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Wireless Avionics Intra-Communications (WAIC) systems can enhance structural flexibility, while multirotor Unmanned Aerial Vehicles (UAVs) continue to evolve into larger, more complex, and modular forms for advanced tasks. Integrating WAIC within multirotor UAVs promises to unlock additional capabilities but also demands a solution to the multi-delay challenges intrinsic to WAIC. This paper introduces the Multi-Delay Mitigation Model Predictive Control (MDM-MPC) framework, a robust approach to counteracting prevalent multi-delay issues in multirotor UAV WAIC systems. Experimental results reveal that the MDM-MPC framework significantly extends network delay tolerance, achieving an average of 21.25 ms with a variance of 167.19, and under disturbance conditions, an average of 8.75 ms with a variance of 17.19. These outcomes highlight the effectiveness of MDM-MPC in fortifying the reliability and performance of WAIC systems in multirotor UAV operations, thereby contributing to the advancement of aeronautical control technologies.

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Multi-delay Mitigation Model Predictive Control Framework for Multirotor UAV Wireless Avionics Intra-communications Systems

  • 会议论文

  • 发表日期：

    2025年

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  • Jipeng Han,
  • Yankai Wang

摘要

Wireless Avionics Intra-Communications (WAIC) systems can enhance structural flexibility, while multirotor Unmanned Aerial Vehicles (UAVs) continue to evolve into larger, more complex, and modular forms for advanced tasks. Integrating WAIC within multirotor UAVs promises to unlock additional capabilities but also demands a solution to the multi-delay challenges intrinsic to WAIC. This paper introduces the Multi-Delay Mitigation Model Predictive Control (MDM-MPC) framework, a robust approach to counteracting prevalent multi-delay issues in multirotor UAV WAIC systems. Experimental results reveal that the MDM-MPC framework significantly extends network delay tolerance, achieving an average of 21.25 ms with a variance of 167.19, and under disturbance conditions, an average of 8.75 ms with a variance of 17.19. These outcomes highlight the effectiveness of MDM-MPC in fortifying the reliability and performance of WAIC systems in multirotor UAV operations, thereby contributing to the advancement of aeronautical control technologies.