Dağıtılmış Model Öngörülü Kontrol ile Savaş Uçağı Sürü Koordinasyonu Otopilot, Yörünge Planlaması ve Engelden Kaçınma / Fighter Aircraft Swarm Coordination by Autopilot,Trajectory Planning and Obstacle Avoidance via Distributed Model Predictive Control

Yaşar C. F.

LIFT_UP_2020_2021_bildiri_kitap, Ankara, Turkey, 01 July 2021, pp.738-742

  • Publication Type: Conference Paper / Full Text
  • City: Ankara
  • Country: Turkey
  • Page Numbers: pp.738-742
  • Yıldız Technical University Affiliated: Yes


This report demonstrates that the Distributed Model Predictive Control (MPC) method can be used for trajectory planning in swarm fixed-wing aircraft. In this study, the trajectories of a realistic fixed-wing aircraft were created with the Model Predictive Control method, and then the movements of this aircraft were examined in the swarm concept, and the movement of the related aircraft was ensured by avoiding the obstacle. Both state constraints and cost function methods are used for the related obstacle avoidance event. A non-linear F-16 model is integrated into the system to verify that a real fixed-wing aircraft can move using MPC trajectories. Autopilot models have been developed with the PID control method to enable the aircraft's state vector to follow the trajectories autonomously. Various scenarios were created in order to observe the capabilities of the system and the results were discussed.