Distributed game strategy for unmanned aerial vehicle formation with external disturbances and obstacles

We investigate a distributed game strategy for unmanned aerial vehicle(UAV)formations with external disturbances and obstacles.The strategy is based on a distributed model predictive control(MPC)framework and Levy flight based pigeon inspired optimization(LFPIO).First,we propose a non-singular fast terminal sliding mode observer(NFTSMO)to estimate the influence of a disturbance,and prove that the observer converges in fixed time using a Lyapunov function.Second,we design an obstacle avoidance strategy based on topology reconstruction,by which the UAV can save energy and safely pass obstacles.Third,we establish a distributed MPC framework where each UAV exchanges messages only with its neighbors.Further,the cost function of each UAV is designed,by which the UAV formation problem is transformed into a game problem.Finally,we develop LFPIO and use it to solve the Nash equilibrium.Numerical simulations are conducted,and the efficiency of LFPIO based distributed MPC is verified through comparative simulations.