Optimizing Unmanned Air–Ground Vehicle Maneuvers Using Nonlinear Model Predictive Control and Moving Horizon Estimation

In this paper, Nonlinear Model Predictive Control (NMPC) and Nonlinear Moving Horizon Estimator (NMHE) are combined to control, in a distributed way, a heterogeneous fleet composed of a steering car and a quadcopter. In particular, the ground vehicle in the role of the leader communicates its one-st...

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Bibliographic Details

Published in:	Automation
Main Authors:	Alessandra Elisa Sindi Morando, Alessandro Bozzi, Simone Graffione, Roberto Sacile, Enrico Zero
Format:	Article
Language:	English
Published:	MDPI AG 2024-07-01
Subjects:	unmanned ground vehicle unmanned aerial vehicle nonlinear model predictive control nonlinear moving horizon estimation
Online Access:	https://www.mdpi.com/2673-4052/5/3/20