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Distributed formation control with open-loop Nash strategy
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DOI：10.1016/j.automatica.2019.04.034.png)
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摘要
En 中文
In this paper, we investigate game theoretical multi-agent formation control problem. The main challenge of this problem is how to enable local execution of game strategies, e.g., Nash equilibrium, which generally requires global information in the presence of communication topology among agents. Toward this, we first derive open-loop Nash equilibrium for agents minimizing formation error based performance indices and proceed to introduce a distributed estimation scheme to facilitate local implementation of the derived Nash strategies. In addition, a shrinking horizon control technique is integrated into the proposed scheme to handle unexpected state changes. The proposed scheme is fully distributed and ensures an E Nash equilibrium. An illustrative example is presented to verify the effectiveness. (C) 2019 Elsevier Ltd. All rights reserved.
Keyword:
EQUILIBRIUM SEEKING
NONLINEAR-SYSTEMS
AGGREGATIVE GAMES
CONVERGENCE
CONSENSUS
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期刊
IF:
5.9
论文数:
1.2W
被引数:
5.2W
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引用论文
Decentralized receding horizon control and coordination of autonomous vehicle formations自主车辆编队的分散后退地平线控制和协调
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OAAI分享收藏Distributed finite-time consensus of nonlinear systems under switching topologies.png)
AUTOMATICA
AUTOMATICAIF5.9
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