UAV Formation Control With External Obstruct Based On Differential Game*

Authors: zhibin  yang
yang  chen
lei  liu
Venue: IEEE_org_ICIST_2024_Conference
Published: 2024-08-15 17:59:03

Abstract: In this paper, the problem of multi-UAV formation
control with external interference is studied. The indicators of
each drone in the drone formation are independently selected
based on its local information, and each drone tries to minimize
its own performance indicators. Because the target of each UAV
in the formation is different, the formation control problem
in this paper is expressed as a differential game problem. In
the actual flight of UAV formation, there will be some physical
interference. This paper uses a commonly used UAV point mass
model and designs an effective interference observer to estimate
the negative effects of external interference. After eliminating
the external interference, it is helpful to achieve the expected
formation control goal better. Finally, a novel open-loop Nash
strategy design method is used to estimate the terminal state of
the UAV to achieve the complete distribution of the UAV.

Main paper: 
 i. introduction: 
 UAV has many functions, and is very flexible and lightweight, and has many applications in many fields. With the rapid development of UAV technology, it is playing an increasingly important role in many fields. However, the load-bearing capacity, information processing capacity and task capability of a single UAV are weak. But if multiple drones can form a formation, it can overcome a series of problems faced by a single drone. Many teams at home and abroad have conducted a series of studies on the problem of UAV formation. Multi-UAV formation control refers to the coordination and control of UAVs in a multi-aircraft system to form a predetermined formation structure. The research in this field involves communication between UAVs, cooperative motion planning and robustness in dynamic random environments. Multi-UAV formation is widely used, including military warfare, logistics distribution, surveying and mapping fields. However, the complex and changeable battlefield environment also brings great challenges to UAV formation control. In recent years, there have been a lot of excellent achievements in the field of multi-UAV formation control. In [1] , using the graph theory method, an output feedback linearization technique with consistency protocol is adopted to maintain the specified position of multiple UAVs on time-varying geometry. By introducing fault detection logic to transform Identify applicable funding agency here. If none, delete this. the interconnection topology, the controller can realize the stability of formation flight. In [2] , the control rate of a fixedwing UAV is designed, the decision-making process of UAV formation control is clarified, and the free conversion of flight state is realized. In [3] , a physically understandable guidance rate for multi-UAV formation flight is designed using a virtual structure approach. In [4] , a multi-UAV formation control strategy based on virtual double integral dynamics is proposed.In the execution of time-limited tasks, UAVs will encounter a variety of unexpected situations and practical problems, such as wind speed, rainfall, fog weather, which will directly affect the control of UAVs formation. These are inevitable situations, many existing results have explored a lot of methods to eliminate the adverse effects of interference, one of the key problems in the current research is to design an interference observer to estimate and compensate for such external interference.In recent years, differential game theory and multi-UAV formation control have attracted much attention in the field of modern control systems. In [5] , a game problem of formation control is studied, which allows players in formation to keep a certain formation while avoiding obstacles. In [6] , noncooperative game is studied, and formation control is realized through Nash equilibrium strategy to ensure the stability of formation control. In [7] , the differential game method is adopted to solve the control problem of robot formation. In [8] , based on differential game, feedback controller is synthesized by rolling optimization method, and mobile robot formation control is carried out on the basis of graph theory. On the basis of previous studies, this paper selects a general UAV point mass model, establishes a multi-UAV formation, and studies a distributed multi-unmanned formation control based on differential game method.Now there are many kinds of UAV models on the market, the common UAV models are quadrotor UAV model, fixed wing UAV model.There are a variety of drone models on the market today, so it is impossible to have a universal drone modelm, the common UAV models include four-rotor UAV model and fixed-wing UAV model. In this paper, we adopt 
 
 Appendix:  



Reviews: review: title: title: Review Comments for Manuscript NO.180
main_review: main_review: The manuscript  lacks substantial content in some critical sections, including theoretical explanations, detailed methodologies, and simulation results. A manuscript is expected to present a complete and thorough exploration of the research topic, including problem formulation, methodology, results, and discussion.
Without these essential components, the manuscript fails to provide a comprehensive understanding of the research conducted and its contributions to the field. Therefore, the manuscript, in its current form, is incomplete and does not meet the standards required for publication.
title: title: reject
main_review: main_review: The paper presents a approach to multi-UAV formation control under external interference, utilizing a differential game framework and a novel open-loop Nash strategy. However, this study does not introduce novel insights, and the organization of the writing is unclear.
title: title: UAV Formation Control With External Obstruct Based On Differential Game
main_review: main_review: In this paper, the problem of multi-UAV formation control with external interference is studied. However, this article lacks innovation. And the writing structure of the article is not clear.