A Cooperative Decision-Making and Control Algorithm for UAV Formation Based on Non-Cooperative Game Theory
The formation control problem of distributed fixed-wing Unmanned Aerial Vehicles (UAVs) is investigated in this paper. By utilizing the theoretical foundations of non-cooperative game theory, a novel control strategy is introduced, which allows UAVs to autonomously determine the optimal flight traje...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-11-01
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| Series: | Drones |
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| Online Access: | https://www.mdpi.com/2504-446X/8/12/698 |
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| author | Yongkang Jiao Wenxing Fu Xinying Cao Kunhu Kou Ji Tang Rusong Shen Yiyang Zhang Haibo Du |
| author_facet | Yongkang Jiao Wenxing Fu Xinying Cao Kunhu Kou Ji Tang Rusong Shen Yiyang Zhang Haibo Du |
| author_sort | Yongkang Jiao |
| collection | DOAJ |
| description | The formation control problem of distributed fixed-wing Unmanned Aerial Vehicles (UAVs) is investigated in this paper. By utilizing the theoretical foundations of non-cooperative game theory, a novel control strategy is introduced, which allows UAVs to autonomously determine the optimal flight trajectory without relying on centralized coordination while concurrently mitigating conflicts with other UAVs. By transforming the UAV model into a double integrator form, the control complexity is reduced. Additionally, the incorporation of a homogeneous differential disturbance observer enhances the UAV’s resilience against disturbances during the control process. Through the development and validation of a Nash equilibrium-based algorithm, it is demonstrated that UAVs can sustain a predefined formation flight and autonomously adapt their trajectories in complex environments. Simulations are presented to confirm the efficiency of the proposed method. |
| format | Article |
| id | doaj-art-4b2d6a63c6c04fc49e070e8a64463cfc |
| institution | DOAJ |
| issn | 2504-446X |
| language | English |
| publishDate | 2024-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj-art-4b2d6a63c6c04fc49e070e8a64463cfc2025-08-20T02:53:29ZengMDPI AGDrones2504-446X2024-11-0181269810.3390/drones8120698A Cooperative Decision-Making and Control Algorithm for UAV Formation Based on Non-Cooperative Game TheoryYongkang Jiao0Wenxing Fu1Xinying Cao2Kunhu Kou3Ji Tang4Rusong Shen5Yiyang Zhang6Haibo Du7Unmanned System Research Institute, Northwestern Polytechnical University, Xi’an 710072, ChinaUnmanned System Research Institute, Northwestern Polytechnical University, Xi’an 710072, ChinaAeronautical Operation Institute, Naval Aviation University, Yantai 264001, ChinaAeronautical Operation Institute, Naval Aviation University, Yantai 264001, ChinaAeronautical Operation Institute, Naval Aviation University, Yantai 264001, ChinaAeronautical Operation Institute, Naval Aviation University, Yantai 264001, ChinaSchool of Electrical Engineering and Automation, Hefei University of Technology, Hefei 230009, ChinaSchool of Electrical Engineering and Automation, Hefei University of Technology, Hefei 230009, ChinaThe formation control problem of distributed fixed-wing Unmanned Aerial Vehicles (UAVs) is investigated in this paper. By utilizing the theoretical foundations of non-cooperative game theory, a novel control strategy is introduced, which allows UAVs to autonomously determine the optimal flight trajectory without relying on centralized coordination while concurrently mitigating conflicts with other UAVs. By transforming the UAV model into a double integrator form, the control complexity is reduced. Additionally, the incorporation of a homogeneous differential disturbance observer enhances the UAV’s resilience against disturbances during the control process. Through the development and validation of a Nash equilibrium-based algorithm, it is demonstrated that UAVs can sustain a predefined formation flight and autonomously adapt their trajectories in complex environments. Simulations are presented to confirm the efficiency of the proposed method.https://www.mdpi.com/2504-446X/8/12/698non-cooperative game theorydistributed controldisturbance observerfixed-wing unmanned aerial vehiclesformation controlNash equilibrium |
| spellingShingle | Yongkang Jiao Wenxing Fu Xinying Cao Kunhu Kou Ji Tang Rusong Shen Yiyang Zhang Haibo Du A Cooperative Decision-Making and Control Algorithm for UAV Formation Based on Non-Cooperative Game Theory Drones non-cooperative game theory distributed control disturbance observer fixed-wing unmanned aerial vehicles formation control Nash equilibrium |
| title | A Cooperative Decision-Making and Control Algorithm for UAV Formation Based on Non-Cooperative Game Theory |
| title_full | A Cooperative Decision-Making and Control Algorithm for UAV Formation Based on Non-Cooperative Game Theory |
| title_fullStr | A Cooperative Decision-Making and Control Algorithm for UAV Formation Based on Non-Cooperative Game Theory |
| title_full_unstemmed | A Cooperative Decision-Making and Control Algorithm for UAV Formation Based on Non-Cooperative Game Theory |
| title_short | A Cooperative Decision-Making and Control Algorithm for UAV Formation Based on Non-Cooperative Game Theory |
| title_sort | cooperative decision making and control algorithm for uav formation based on non cooperative game theory |
| topic | non-cooperative game theory distributed control disturbance observer fixed-wing unmanned aerial vehicles formation control Nash equilibrium |
| url | https://www.mdpi.com/2504-446X/8/12/698 |
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