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Article

A Cooperative Decision-Making and Control Algorithm for UAV Formation Based on Non-Cooperative Game Theory

by
Yongkang Jiao
1,2,
Wenxing Fu
1,
Xinying Cao
2,
Kunhu Kou
2,
Ji Tang
2,
Rusong Shen
2,
Yiyang Zhang
3 and
Haibo Du
3,*
1
Unmanned System Research Institute, Northwestern Polytechnical University, Xi’an 710072, China
2
Aeronautical Operation Institute, Naval Aviation University, Yantai 264001, China
3
School of Electrical Engineering and Automation, Hefei University of Technology, Hefei 230009, China
*
Author to whom correspondence should be addressed.
Drones 2024, 8(12), 698; https://doi.org/10.3390/drones8120698
Submission received: 6 October 2024 / Revised: 10 November 2024 / Accepted: 16 November 2024 / Published: 21 November 2024
(This article belongs to the Special Issue Distributed Control, Optimization, and Game of UAV Swarm Systems (2nd Edition))
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Abstract

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.
Keywords: non-cooperative game theory; distributed control; disturbance observer; fixed-wing unmanned aerial vehicles; formation control; Nash equilibrium; backstepping non-cooperative game theory; distributed control; disturbance observer; fixed-wing unmanned aerial vehicles; formation control; Nash equilibrium; backstepping

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MDPI and ACS Style

Jiao, Y.; Fu, W.; Cao, X.; Kou, K.; Tang, J.; Shen, R.; Zhang, Y.; Du, H. A Cooperative Decision-Making and Control Algorithm for UAV Formation Based on Non-Cooperative Game Theory. Drones 2024, 8, 698. https://doi.org/10.3390/drones8120698

AMA Style

Jiao Y, Fu W, Cao X, Kou K, Tang J, Shen R, Zhang Y, Du H. A Cooperative Decision-Making and Control Algorithm for UAV Formation Based on Non-Cooperative Game Theory. Drones. 2024; 8(12):698. https://doi.org/10.3390/drones8120698

Chicago/Turabian Style

Jiao, Yongkang, Wenxing Fu, Xinying Cao, Kunhu Kou, Ji Tang, Rusong Shen, Yiyang Zhang, and Haibo Du. 2024. "A Cooperative Decision-Making and Control Algorithm for UAV Formation Based on Non-Cooperative Game Theory" Drones 8, no. 12: 698. https://doi.org/10.3390/drones8120698

APA Style

Jiao, Y., Fu, W., Cao, X., Kou, K., Tang, J., Shen, R., Zhang, Y., & Du, H. (2024). A Cooperative Decision-Making and Control Algorithm for UAV Formation Based on Non-Cooperative Game Theory. Drones, 8(12), 698. https://doi.org/10.3390/drones8120698

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