Distributed formation control with open-loop Nash strategy

Journal Article · Tue May 21 00:00:00 EDT 2019 · Automatica

DOI:https://doi.org/10.1016/j.automatica.2019.04.034· OSTI ID:1601132

Lin, Wei ^[1]; Li, Chaoyong ^[2]; Qu, Zhihua ^[3]; Simaan, Marwan A. ^[3]

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1. Inspire Energy, Santa Monica, CA (United States)
2. Zhejiang Univ., Hangzhou (China)
3. Univ. of Central Florida, Orlando, FL (United States)

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 Nash equilibrium. An illustrative example is presented to verify the effectiveness.

• Research Organization: Univ. of Central Florida, Orlando, FL (United States)
• Sponsoring Organization: USDOE Office of Energy Efficiency and Renewable Energy (EERE)
• Grant/Contract Number: EE0007327; EE0007998
• OSTI ID: 1601132
• Alternate ID(s): OSTI ID: 1820539
• Journal Information: Automatica, Vol. 106, Issue C; ISSN 0005-1098
• Publisher: Elsevier
• Country of Publication: United States
• Language: English

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