A Distributed Optimal Formation Control for UAVs and UGVs
Pujing Zhang,
Jichao Zhao,
Fengzhi Dai
et al.
Abstract:This article addresses the optimal formation control for unmanned aerial
vehicles (UAVs) and unmanned ground vehicles (UGVs) system via a
distributed optimal control approach. A user-friendly global cost
function is well designed in a linear quadratic regulator (LQR) form.
The proper choice of the weighting matrices for optimizing the cost
function are given. To deal with the graph coupling of optimal control
and distributed control, we propose a distributed optimal formation
control protocol, and the protocol… Show more
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