Optimal formation control with limited communication for multi-unmanned aerial vehicle in an obstacle-laden environment

This paper investigates the formation control problem of multiple unmanned aerial vehicles (UAVs) with limited communication in a known and realistic obstacle-laden environment. In order to deal with the limited communication constraints, the leader-follower strategy and the virtual leader strategy are integrated into an optimal control framework to formulate this formation control problem. This combination formation framework can be achieved by integrating a redefined directed graph and a proposed information vector. In more practical applications, an obstacle/collision avoidance strategy is achieved by constructing a non-quadratic cost function innovatively using a virtual flow field approach. The proposed optimal control laws, which derive from the local information rather than the global information, are proved to guarantee the stability of the close-loop system by an inverse optimal control approach. The simulation results demonstrate the effectiveness of the formation flight of multiple UAVs with limited communication in an obstacle-laden environment.