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

• Published in: 2023 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
• Language: English
• 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
• DOI: 10.23919/CCC58697.2023.10240744

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.