Trajectory control of multiple aircraft: An NMPC approach

Abstract

A multi-stage nonlinear model predictive controller is derived for the real-time coordination of multiple aircraft. In order to couple the versatility of hybrid systems theory with the power of NMPC, a finite state machine is coupled to a real time optimal control formulation. This methodology aims to integrate real-time optimal control with higher level logic rules, in order to assist mission design for flight operations like collision avoidance, conflict resolution, and reacting to changes in the environment. Specifically, the controller is able to consider new information as it becomes available. Stability properties for nonlinear model predictive control are described briefly along the lines of a dual-mode controller. Finally, a small case study is presented that considers the coordination of two aircraft, where the aircraft are able to avoid obstacles and each other, reach their targets and minimize a cost function over time. © 2007 Springer-Verlag Berlin Heidelberg.