Optimal Cooperative Circumnavigation Control of Multiple Robots: A Mean Field Method

In this paper, aimed at improving the cooperative target tracking performance, the optimal cooperative circumnavigation control of multiple robots is studied. To solve the curse of dimensionality in the training process of the optimal cooperative control policy, this paper employs the idea of “Mean Field” and designs a fully distributed optimization algorithm based on the robust optimal control method, which greatly reduces the algorithm complexity and training time. The stability of the system under the designed control policy is analyzed rigorously and the theoretical results are validated by a numerical simulation.