This article studies the adaptive model predictive control with extended state observers (ESO) to deal with multiple unmanned aerial vehicles formation flight in presence of external disturbances and system uncertainties. Specifically, to deal with the mismatch of predictive model caused by external disturbances and system uncertainties, ESOs are introduced to estimate the lumped disturbances, where the ultimately bounded property of observer system can be guaranteed by using the Lyapunov stability theorem. With these observations, the distributed adaptive model predictive controller is designed to achieve trajectory tracking and disturbance rejection simultaneously for multiple unmanned aerial vehicles, as well as taking the state and input saturation into account. Moreover, the stability of proposed model predictive controller is analyzed. Finally, the simulation examples are provided to illustrate the validity of the proposed control scheme.

中文翻译：

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带有扩展状态观察器的多UAV编队飞行自适应模型预测控制

本文研究了带有扩展状态观测器（ESO）的自适应模型预测控制，以应对存在外部干扰和系统不确定性的多种无人机编队飞行。具体而言，为了解决由外部干扰和系统不确定性引起的预测模型的不匹配，引入了ESO来估计集总干扰，其中可以使用Lyapunov稳定性定理来保证观察者系统的最终有界性质。有了这些观察，分布式自适应模型预测控制器被设计为同时实现多个无人飞行器的轨迹跟踪和干扰抑制，并考虑到状态和输入饱和度。此外，分析了所提出的模型预测控制器的稳定性。