Distributed game strategy for unmanned aerial vehicle formation with external disturbances and obstacles

2022, Volume 23, Issue 7

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Frontiers of Information Technology & Electronic Engineering >> 2022, Volume 23, Issue 7 doi: 10.1631/FITEE.2100559

Distributed game strategy for unmanned aerial vehicle formation with external disturbances and obstacles

Affiliation(s): State Key Laboratory of Virtual Reality Technology and Systems, School of Autonomous Science and Electrical Engineering, Beihang University, Beijing100083, China; School of Mechanical Engineering & Automation, Beihang University, Beijing100191, China; Peng Cheng Laboratory, Shenzhen518000, China; less

Received: 2021-12-02 Accepted: 2022-07-21 Available online: 2022-07-21

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Abstract

We investigate a for formations with external disturbances and obstacles. The strategy is based on a framework and . First, we propose a to estimate the influence of a disturbance, and prove that the observer converges in fixed time using a Lyapunov function. Second, we design an based on topology reconstruction, by which the UAV can save energy and safely pass obstacles. Third, we establish a distributed MPC framework where each UAV exchanges messages only with its neighbors. Further, the cost function of each UAV is designed, by which the UAV formation problem is transformed into a game problem. Finally, we develop LFPIO and use it to solve the Nash equilibrium. Numerical simulations are conducted, and the efficiency of LFPIO based distributed MPC is verified through comparative simulations.

Keywords

Distributed game strategy ; Unmanned aerial vehicle (UAV) ; Distributed model predictive control (MPC) ; Levy flight based pigeon inspired optimization (LFPIO) ; Non-singular fast terminal sliding mode observer (NFTSMO) ; Obstacle avoidance strategy

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