Distributed UAV formation control using differential game approach

This paper considers a formation control problem for a multiple-UAV (unmanned aerial vehicle) system where each UAV is able to exchange information with other UAVs according to a fixed information graph. In this paper, each UAV tries to minimize its own performance index which is chosen independentl...

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Bibliographic Details
Published inAerospace science and technology Vol. 35; pp. 54 - 62
Main Author Lin, Wei
Format Journal Article
LanguageEnglish
Published Issy-les-Moulineaux Elsevier Masson SAS 01.05.2014
Elsevier
Subjects
Applied sciences
Computer science; control theory; systems
Control theory. Systems
Differential games
Distributed control
Exact sciences and technology
Formation control
Robotics
Distributed control
Formation control
Differential games
Nash strategy
Moving robot
Unmanned aerial vehicle
Flight
Numerical simulation
Differential game
Modeling
Robotics
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Summary:This paper considers a formation control problem for a multiple-UAV (unmanned aerial vehicle) system where each UAV is able to exchange information with other UAVs according to a fixed information graph. In this paper, each UAV tries to minimize its own performance index which is chosen independently based on its local information. Because of the UAVs' different objectives, the formation control problem is formulated and solved as a differential game problem. Realizing the incapability of the classical Nash strategy approach in dealing with the distributed information, we propose a novel open-loop Nash strategy design approach for each UAV to implement in a fully distributed manner through estimating its terminal state. An illustrative example of a five-UAV formation control problem is solved under different scenarios.
ISSN:1270-9638
1626-3219
DOI:10.1016/j.ast.2014.02.004