Safe Adaptive Dynamic Programming-Based Formation Control and Collision Avoidance of Multi-UAV System

In this study, a safe adaptive dynamic programming-based method is proposed for the formation control and collision avoidance problem of the multi-UAV systems with the known upper bound of external disturbances. For the position subsystem, an adaptive dynamic programming algorithm is established, us...

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Bibliographic Details
Published in2023 42nd Chinese Control Conference (CCC) pp. 5511 - 5516
Main Authors Yu, Hui, Dou, Liqian, Zhang, Ruilong, Zhang, Xiuyun, Cai, Siyuan, Tang, Yifan
Format Conference Proceeding
LanguageEnglish
Published Technical Committee on Control Theory, Chinese Association of Automation 24.07.2023
Subjects
Adaptive dynamic programming
Adaptive systems
Attitude control
Barrier function
Collision Avoidance
Heuristic algorithms
Multi-UAV formation control
Simulation
Stability criteria
Uncertainty
Upper bound
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Summary:In this study, a safe adaptive dynamic programming-based method is proposed for the formation control and collision avoidance problem of the multi-UAV systems with the known upper bound of external disturbances. For the position subsystem, an adaptive dynamic programming algorithm is established, using a designed cost function that manages to include uncertainty, tracking error, control influence, and barrier functions. Through the critic network structure with a unique weight learning criterion, the optimal cost function and control strategies are obtained. After attitude resolution, an integral back-stepping controller is established for the attitude subsystem. The simulation experiment is designed to verify the effectiveness of the algorithm.
ISSN:2161-2927
DOI:10.23919/CCC58697.2023.10240744