TY - GEN
T1 - Adaptive Communication and Control Co-Design for Remote UAV Systems
AU - Ding, Huahao
AU - Liang, Tianhao
AU - Ping, Yuqi
AU - Zhang, Tingting
N1 - Publisher Copyright:
© 2025 IEEE.
PY - 2025
Y1 - 2025
N2 - In this paper, we present a remote UAV control framework to achieve the tasks of trajectory tracking while avoiding collision. We utilize short-packet communication to transmit the control commands. Following this framework, we develop an improved self-triggered stochastic model predictive control (ST-SMPC) to adaptively adjust the control length, which greatly affects the control and communication performance. Moreover, chance constraints are considered to realize collision avoidance. Consequently, we decouple this co-design problem into a SMPC problem and a communication power optimization problem to jointly determine the control length. Simulation results demonstrate that the proposed control method can adaptively adjust the control length under various environments, achieving better communication efficiency compared to traditional MPC approaches.
AB - In this paper, we present a remote UAV control framework to achieve the tasks of trajectory tracking while avoiding collision. We utilize short-packet communication to transmit the control commands. Following this framework, we develop an improved self-triggered stochastic model predictive control (ST-SMPC) to adaptively adjust the control length, which greatly affects the control and communication performance. Moreover, chance constraints are considered to realize collision avoidance. Consequently, we decouple this co-design problem into a SMPC problem and a communication power optimization problem to jointly determine the control length. Simulation results demonstrate that the proposed control method can adaptively adjust the control length under various environments, achieving better communication efficiency compared to traditional MPC approaches.
KW - UAV
KW - collision avoidance
KW - self-triggered control
KW - stochastic model predictive control
KW - trajectory tracking
UR - https://www.scopus.com/pages/publications/105019047087
U2 - 10.1109/VTC2025-Spring65109.2025.11174804
DO - 10.1109/VTC2025-Spring65109.2025.11174804
M3 - 会议稿件
AN - SCOPUS:105019047087
T3 - IEEE Vehicular Technology Conference
BT - 2025 IEEE 101st Vehicular Technology Conference, VTC 2025-Spring 2025 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 101st IEEE Vehicular Technology Conference, VTC 2025-Spring 2025
Y2 - 17 June 2025 through 20 June 2025
ER -