Time-Varying Formation-Surrounding Control for Multiquadrotors Pursuit-Evasion Games With Disturbances and Collision Avoidance

This article addresses the time-varying formation-surrounding control (FSC) problem for the multiple quadrotors pursuit–evasion (MQPE) games subject to time-varying disturbances and collision constraints. First, two appointed-fixed-time observers are presented to estimate the position and velocity o...

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Published inIEEE transactions on aerospace and electronic systems Vol. 61; no. 1; pp. 522 - 541
Main Authors Xiong, Hang, Zhang, Ying
Format Journal Article
LanguageEnglish
Published New York IEEE 01.02.2025
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Adaptive dynamic programming (ADP)
Collision avoidance
Control theory
Cost function
Differential games
Disturbances
Dynamic programming
Game theory
Games
Neural networks
Observers
Position (title)
Pursuit-evasion games
Quadrotors
Robust control
Rotary wing aircraft
Simulation
time-varying disturbances
time-varying formation-surrounding control (FSC)
Time-varying systems
Vehicle dynamics
Online AccessGet full text
ISSN0018-9251
1557-9603
DOI10.1109/TAES.2024.3446970

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Abstract This article addresses the time-varying formation-surrounding control (FSC) problem for the multiple quadrotors pursuit–evasion (MQPE) games subject to time-varying disturbances and collision constraints. First, two appointed-fixed-time observers are presented to estimate the position and velocity of the evader leader within the user-appointed time. Then, based on the {{H}_\infty } robust control theory and artificial potential function, the novel cost functions are designed for quadrotors to deal with disturbances and collision problems. Subsequently, the adaptive dynamic programming based time-varying FSC schemes are proposed to solve the MQPE games, which employ critic-only neural networks to approximate the optimal cost functions. Finally, rigorous theory analyses and numerical simulation examples are provided to demonstrate the Nash equilibrium of MQPE games and the effectiveness of the proposed control schemes.
AbstractList This article addresses the time-varying formation-surrounding control (FSC) problem for the multiple quadrotors pursuit–evasion (MQPE) games subject to time-varying disturbances and collision constraints. First, two appointed-fixed-time observers are presented to estimate the position and velocity of the evader leader within the user-appointed time. Then, based on the ${{H}_\infty }$ robust control theory and artificial potential function, the novel cost functions are designed for quadrotors to deal with disturbances and collision problems. Subsequently, the adaptive dynamic programming based time-varying FSC schemes are proposed to solve the MQPE games, which employ critic-only neural networks to approximate the optimal cost functions. Finally, rigorous theory analyses and numerical simulation examples are provided to demonstrate the Nash equilibrium of MQPE games and the effectiveness of the proposed control schemes.
Author Zhang, Ying
Xiong, Hang
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Snippet This article addresses the time-varying formation-surrounding control (FSC) problem for the multiple quadrotors pursuit–evasion (MQPE) games subject to...
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SubjectTerms Adaptive dynamic programming (ADP)
Collision avoidance
Control theory
Cost function
Differential games
Disturbances
Dynamic programming
Game theory
Games
Neural networks
Observers
Position (title)
Pursuit-evasion games
Quadrotors
Robust control
Rotary wing aircraft
Simulation
time-varying disturbances
time-varying formation-surrounding control (FSC)
Time-varying systems
Vehicle dynamics
Title Time-Varying Formation-Surrounding Control for Multiquadrotors Pursuit-Evasion Games With Disturbances and Collision Avoidance
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