Dual Model Predictive Control of Multiple Quadrotors With Formation Maintenance and Collision Avoidance

This article develops a dual model predictive control (MPC) approach that employs control Lyapunov functions (CLFs) and control barrier functions (CBFs) to support the preservation of formation and prevention of collision in multiquadrotor systems. This is accomplished by utilizing the MPC-CLFs and MPC-CBFs, which are created to establish stability and safety through CLF and CBF constraints of the MPC. The formation does not have a leader due to the implementation of the distributed MPC-CLFs method. The MPC-CBFs track the nominal inputs set by the MPC-CLFs while maintaining a safe distance from obstacles and other quadrotors. Additionally, the event-triggered mechanism detects deadlocks and the nominal states in MPC-CLFs are adapted to resolve them. Both simulation and experimental results demonstrate the effectiveness of the proposed approach.