典型文献
Distributed game strategy for unmanned aerial vehicle formation with external disturbances and obstacles
文献摘要：
We investigate a distributed game strategy for unmanned aerial vehicle (UAV) formations with external disturbances and obstacles. The strategy is based on a distributed model predictive control (MPC) framework and Levy flight based pigeon inspired optimization (LFPIO). First, we propose a non-singular fast terminal sliding mode observer (NFTSMO) to estimate the influence of a disturbance, and prove that the observer converges in fixed time using a Lyapunov function. Second, we design an obstacle avoidance strategy 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.
文献关键词：
中图分类号：
作者姓名：
Yang YUAN;Yimin DENG;Sida LUO;Haibin DUAN
作者机构：
State Key Laboratory of Virtual Reality Technology and Systems,School of Autonomous Science and Electrical Engineering,Beihang University,Beijing 100083,China;School of Mechanical Engineering&Automation,Beihang University,Beijing 100191,China;Peng Cheng Laboratory,Shenzhen 518000,China
文献出处：
引用格式：
[1]Yang YUAN;Yimin DENG;Sida LUO;Haibin DUAN-.Distributed game strategy for unmanned aerial vehicle formation with external disturbances and obstacles)[J].信息与电子工程前沿（英文）,2022(07):1020-1031
A类：
LFPIO,NFTSMO
B类：
Distributed,game,strategy,unmanned,aerial,vehicle,external,disturbances,obstacles,We,investigate,distributed,UAV,formations,model,predictive,control,MPC,framework,Levy,flight,pigeon,inspired,optimization,First,we,propose,singular,fast,terminal,sliding,observer,estimate,influence,prove,that,converges,fixed,using,Lyapunov,function,Second,avoidance,topology,reconstruction,by,which,can,save,energy,safely,pass,Third,establish,where,each,exchanges,messages,only,its,neighbors,Further,cost,designed,problem,transformed,into,Finally,develop,use,solve,Nash,equilibrium,Numerical,simulations,are,conducted,efficiency,verified,through,comparative
AB值：
0.551559
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