An Optimal Control Strategy for Multi-UAVs Target Tracking and Cooperative Competition

An optimal control strategy of winner-take-all (WTA) model is proposed for target tracking and cooperative competition of multi-UAVs (unmanned aerial vehicles). In this model, firstly, based on the artificial potential field method, the artificial potential field function is improved and the fuzzy control decision is designed to realize the trajectory tracking of dynamic targets. Secondly, according to the finite-time convergence high-order differentiator, a double closed-loop UAV speed tracking the controller is designed to realize the speed control and tracking of the target tracking trajectory. Numerical simulation results show that the designed speed tracking controller has the advantages of fast tracking, high precision, strong stability and avoiding chattering. Finally, a cooperative competition scheme of multiple UAVs based on WTA is designed to find the minimum control energy from multiple UAVs and realize the optimal control strategy. Theoretical analysis and numerical simulation results show that the model has the fast convergence, high control accuracy, strong stability and good robustness.

Automated summary

The paper proposes an optimal control strategy for target tracking and cooperative competition of multi-UAVs based on the winner-take-all (WTA) model. Improved artificial potential field method and finite-time convergence high-order differentiator are utilized to achieve fast tracking, high precision, and strong stability in trajectory and speed control. The cooperative competition scheme of multiple UAVs based on WTA further enhances the model's fast convergence, high control accuracy, strong stability, and robustness.