UAV Formation Control With External Obstruct Based On Differential Game*

Lei Liu, Zhibin Yang, Yang Chen

Abstract:

In this paper, the problem of multi-UAV formation
control with external interference is studied. The indicators of
each drone in the drone formation are independently selected
based on its local information, and each drone tries to minimize
its own performance indicators. Because the target of each UAV
in the formation is different, the formation control problem
in this paper is expressed as a differential game problem. In
the actual flight of UAV formation, there will be some physical
interference. This paper uses a commonly used UAV point mass
model and designs an effective interference observer to estimate
the negative effects of external interference. After eliminating
the external interference, it is helpful to achieve the expected
formation control goal better. Finally, a novel open-loop Nash
strategy design method is used to estimate the terminal state of
the UAV to achieve the complete distribution of the UAV.

Submission Number: 180