A differential game approach to formation control

被引：126

作者：

Gu, Dongbing ^{[1
]}

机构：

[1] Univ Essex, Dept Comp Sci, Colchester CO4 3SQ, Essex, England

来源：

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2008年 / 16卷 / 01期

基金：

英国工程与自然科学研究理事会;

关键词：

formation control; linear-quadratic differential game; Nash equilibrium;

D O I：

10.1109/TCST.2007.899732

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a differential game approach to formation control of mobile robots. The formation control is formulated as a linear-quadratic Nash differential game through the use of graph theory. Finite horizon cost function is discussed under the open-loop information structure. An open-loop Nash equilibrium solution is investigated by establishing existence and stability conditions of the solutions of coupled (asymmetrical) Riccati differential equations. Based on the finite horizon open-loop Nash equilibrium solution, a receding horizon approach is adopted to synthesize a state-feedback controller for the formation control. Mobile robots with double integrator dynamics are used in the formation control simulation. Simulation results are provided to justify the models and solutions.

引用

页码：85 / 93

页数：9

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