Abstract
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.
摘要
本文研究了具有外部干扰和障碍物的无人机编队分布式博弈策略, 该策略基于分布式模型预测控制(MPC)框架和基于Levy飞行的鸽群优化算法(LFPIO)。首先, 提出一种非奇异快速终端滑模观测器(NFTSMO)估计无人机受扰动的影响, 并利用Lyapunov函数证明该观测器在固定时间内收敛。其次, 设计一种基于拓扑重构的避障策略, 使无人机能够以较小能量消耗安全通过障碍物。然后, 建立一个分布式MPC框架, 该框架中每架无人机仅与邻居交换消息, 通过设计分布式MPC代价函数, 将无人机编队问题转化为博弈问题, 并利用基于Levy飞行的鸽群优化算法求解纳什均衡。最后, 利用数值仿真对比实验验证所提策略的有效性。
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Project supported by the Science and Technology Innovation 2030 Key Project of “New Generation Artificial Intelligence,” China (No. 2018AAA0100803) and the National Natural Science Foundation of China (Nos. T2121003, U1913602, U20B2071, 91948204, and U19B2033)
Contributors
Haibin DUAN and Yang YUAN designed the research. Yang YUAN and Yimin DENG processed the data. Yang YUAN drafted the paper. Sida LUO helped organize the paper. Haibin DUAN and Yang YUAN revised and finalized the paper.
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Yang YUAN, Yimin DENG, Sida LUO, and Haibin DUAN declare that they have no conflict of interest.
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Yuan, Y., Deng, Y., Luo, S. et al. Distributed game strategy for unmanned aerial vehicle formation with external disturbances and obstacles. Front Inform Technol Electron Eng 23, 1020–1031 (2022). https://doi.org/10.1631/FITEE.2100559
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DOI: https://doi.org/10.1631/FITEE.2100559
Key words
- 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