Distributed dynamic matrix control with constrained optimization for collision and obstacle avoidance of simulated multiple quadcopters

Abstract A system of fast moving quadcopters has a high risk collisions with neighboring or obstacles. The objective this work is to develop control strategy for collision and obstacle avoidance multiple quadcopters. In paper, the problem distributed dynamic matrix (DMC) among team attempting reach consensus in horizontal plane yaw direction ( , ) investigated. Violations predetermined safety radius generates output constraints on DMC optimization function, which not been dealt literature. Different from past works, proposed can perform ‐directions. addition, logarithmic barrier functions are implemented as input rate actions. Extensive simulation studies illustrate promising results case variations. parameter effects performance studied, successful study presented.