Proceedings Article10.23919/ccc58697.2023.10240744
Safe Adaptive Dynamic Programming-Based Formation Control and Collision Avoidance of Multi-UAV System
Hui Yu,Liqian Dou,Ruilong Zhang,Xiuyun Zhang,Siyuan Cai,Yifan Tang +5 more
- 24 Jul 2023
pp 5511-5516
TL;DR: Safe adaptive dynamic programming-based formation control and collision avoidance of multi-UAV systems with known upper bound of external disturbances. An adaptive dynamic programming algorithm is proposed to manage uncertainty, tracking error, control influence, and barrier functions.
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Abstract: In this study, a safe adaptive dynamic programming-based method is proposed for the formation control and collision avoidance problem of the multi-UAV systems with the known upper bound of external disturbances. For the position subsystem, an adaptive dynamic programming algorithm is established, using a designed cost function that manages to include uncertainty, tracking error, control influence, and barrier functions. Through the critic network structure with a unique weight learning criterion, the optimal cost function and control strategies are obtained. After attitude resolution, an integral back-stepping controller is established for the attitude subsystem. The simulation experiment is designed to verify the effectiveness of the algorithm.
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