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Title: Distributed formation control with open-loop Nash strategy

Abstract

In this paper, we investigate game theoretical multi-agent formation control problem. The main challenge of this problem is how to enable local execution of game strategies, e.g., Nash equilibrium, which generally requires global information in the presence of communication topology among agents. Toward this, we first derive open-loop Nash equilibrium for agents minimizing formation error based performance indices and proceed to introduce a distributed estimation scheme to facilitate local implementation of the derived Nash strategies. In addition, a shrinking horizon control technique is integrated into the proposed scheme to handle unexpected state changes. The proposed scheme is fully distributed and ensures an Nash equilibrium. An illustrative example is presented to verify the effectiveness.

Authors:
 [1];  [2];  [3];  [3]
  1. Inspire Energy, Santa Monica, CA (United States)
  2. Zhejiang Univ., Hangzhou (China)
  3. Univ. of Central Florida, Orlando, FL (United States)
Publication Date:
Research Org.:
Univ. of Central Florida, Orlando, FL (United States)
Sponsoring Org.:
USDOE Office of Energy Efficiency and Renewable Energy (EERE)
OSTI Identifier:
1601132
Alternate Identifier(s):
OSTI ID: 1820539
Grant/Contract Number:  
EE0007327; EE0007998
Resource Type:
Journal Article: Accepted Manuscript
Journal Name:
Automatica
Additional Journal Information:
Journal Volume: 106; Journal Issue: C; Journal ID: ISSN 0005-1098
Publisher:
Elsevier
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING

Citation Formats

Lin, Wei, Li, Chaoyong, Qu, Zhihua, and Simaan, Marwan A. Distributed formation control with open-loop Nash strategy. United States: N. p., 2019. Web. doi:10.1016/j.automatica.2019.04.034.
Lin, Wei, Li, Chaoyong, Qu, Zhihua, & Simaan, Marwan A. Distributed formation control with open-loop Nash strategy. United States. https://doi.org/10.1016/j.automatica.2019.04.034
Lin, Wei, Li, Chaoyong, Qu, Zhihua, and Simaan, Marwan A. 2019. "Distributed formation control with open-loop Nash strategy". United States. https://doi.org/10.1016/j.automatica.2019.04.034. https://www.osti.gov/servlets/purl/1601132.
@article{osti_1601132,
title = {Distributed formation control with open-loop Nash strategy},
author = {Lin, Wei and Li, Chaoyong and Qu, Zhihua and Simaan, Marwan A.},
abstractNote = {In this paper, we investigate game theoretical multi-agent formation control problem. The main challenge of this problem is how to enable local execution of game strategies, e.g., Nash equilibrium, which generally requires global information in the presence of communication topology among agents. Toward this, we first derive open-loop Nash equilibrium for agents minimizing formation error based performance indices and proceed to introduce a distributed estimation scheme to facilitate local implementation of the derived Nash strategies. In addition, a shrinking horizon control technique is integrated into the proposed scheme to handle unexpected state changes. The proposed scheme is fully distributed and ensures an Nash equilibrium. An illustrative example is presented to verify the effectiveness.},
doi = {10.1016/j.automatica.2019.04.034},
url = {https://www.osti.gov/biblio/1601132}, journal = {Automatica},
issn = {0005-1098},
number = C,
volume = 106,
place = {United States},
year = {Tue May 21 00:00:00 EDT 2019},
month = {Tue May 21 00:00:00 EDT 2019}
}

Journal Article:
Free Publicly Available Full Text
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Cited by: 18 works
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