Receding Nash control for quadrotor UAVs carrying a cable-suspended payload

被引：0
|
作者：
Guo M. [1 ]
Su Y. [1 ]
Zhu X. [1 ]
机构：
[1] School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing
来源：
Beijing Hangkong Hangtian Daxue Xuebao/Journal of Beijing University of Aeronautics and Astronautics | 2018年 / 44卷 / 11期
关键词：
Game theory; Multi-agent; Nash equilibrium; Optimal control; Quadrotor; Unmanned aerial vehicles (UAVs);
D O I：
10.13700/j.bh.1001-5965.2018.0036
中图分类号：
学科分类号：
摘要：
Transporting a cable-suspended payload with two quadrotor unmanned aerial vehicles (UAVs) involves controlling two quadrotor UAVs cooperatively. The existing methods formulate the problem into a control system with only one cost function. In this paper, in order to exploit their individual interest, quadrotor UAVs are considered as two decision-makers with different cost functions and its controller is designed in the framework of noncooperative game theory. Firstly, the system's mathematic model is built with the existence of exogeneous disturbances acting on the payload. Then its linearized form is given and considered as a difference game problem under an open-loop information structure. Based on its Nash equilibrium solution and receding optimization policy, a state-feedback receding-horizon Nash controller is designed. Finally, two numerical simulations are presented, which illustrate that the quad-rotors cooperative well with the proposed controller. © 2018, Editorial Board of JBUAA. All right reserved.
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页码：2343 / 2349
页数：6
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