Data-Driven Optimal Formation Control for Multiple Nonlinear Quadrotors With Switching Topologies
Wanbing Zhao, Hao Liu, Jinhu Lü, Qing Zhong Gao, Gang Feng · IEEE Transactions on Vehicular Technology · 2023
This paper addresses the optimal distributed formation control of multiple quadrotor vehicles under switching topologies, where each vehicle suffers from significant nonlinearity and uncertainty, simultaneously. A distributed observer is constructed to generate the trajectory references for each vehicle. An optimal leader-following formation control protocol is then developed through the reinforcement learning method from the sampled vehicle data. Simulation results from a multiple quadrotors example under switching topologies are presented to verify the obtained results.