Multiparameter Optimization in Formation Control of Uncertain Swarm Systems with Collision Avoidance

This paper investigates the optimal design problem for the formation control of uncertain swarm systems using the cooperative game theory. For the requirements of compact formation and collision avoidance, an adaptive robust constraint-following control is proposed with two adjustable parameters. To seek the optimal values of these two parameters, a two-player cooperative game is formulated. Then the multiparameter optimation problem is transformed into seeking the Pareto-optimality solution of the cooperative game. Finally, the problem is completely solved. The analytical expression of the optimal parameters is provided and its existence and uniqueness is proved. Simulations on a connected autonomous vehicle swarm system verify the effectiveness of the proposed approach.