Weighted Multi-Game Approach to Multi-QUAV Formation Control

In this paper, a weighted multi-game control method is proposed for the multi-Quadrotor Unmanned Aerial Vehicle(QUAV) formation problem. First, an objective function describing the formation mission accomplishment is designed for each QUAV in the system. Then, a game is established between two QUAVs that can communicate with each other. A set of strategies that minimize the value of the objective function of each of the two QUAVs participating in the game at the next decision-making are obtained through the established game. Since, each QUAV in the system may establish communication relationships with multiple QUAVs, multiple control strategies will be obtained when updating the control strategy through the game. Finally, the weights of the multiple control strategies obtained through the game are obtained based on the error relationship between each QUAV and the QUAVs that can establish communication with it. The actual control strategy of the QUAV can be obtained by weighted summation of multiple control strategies. And the feasibility of the method is proved by simulation experiments and hardware experiments.