A distributed nash equilibrium search method and device for cooperative control of a quadrotor unmanned aerial vehicle group under non-convex speed constraints

By constructing a kinematic model of a UAV with non-convex velocity constraints and a distributed estimation mechanism, combined with a nonlinear gain operator, the cooperative control problem of a quadrotor UAV swarm under non-convex constraints was solved, achieving stable convergence and efficient control under actual physical constraints.

CN122111091APending Publication Date: 2026-05-29NANJING UNIV OF SCI & TECH
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
NANJING UNIV OF SCI & TECH
Filing Date
2026-02-06
Publication Date
2026-05-29

AI Technical Summary

Technical Problem

Existing distributed Nash equilibrium search algorithms struggle to handle non-convex velocity constraints in the cooperative control of quadrotor UAV swarms, leading to system instability, performance degradation, and an inability to achieve stable and efficient cooperative control under actual physical constraints.

Method used

A kinematic model of a UAV considering non-convex velocity constraints is constructed, a distributed estimation mechanism and a nonlinear gain operator are designed, the degree of information trust is quantified by an undirected graph model and a weight matrix, global state estimation is performed by combining a consensus protocol, and a nonlinear gain module is introduced to compensate for non-convex constraints, ensuring that the UAV swarm converges to Nash equilibrium under non-convex constraints.

Benefits of technology

Under non-convex velocity constraints, the system ensures that the state of the UAV swarm converges to Nash equilibrium, achieving stable cooperative control, which enhances the system's reliability and engineering practicality, and is applicable to scenarios such as formation, reconnaissance, logistics, and agricultural plant protection.

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Abstract

The application discloses a kind of distributed Nash equilibrium search method and device for the cooperative control of quadrotor unmanned aerial vehicle group under non-convex speed constraint, to solve the problem of cluster cooperative control of unmanned aerial vehicle under non-convex speed constraint.The method constructs unmanned aerial vehicle group communication topology model, defines each unmanned aerial vehicle node and its neighbor communication relationship, realizes distributed control decision under non-cooperative game by combining gradient descent algorithm.In addition, the method uses a consistency protocol to construct an intermediate variable to complete the distributed estimation of global state information, and introduces a nonlinear gain module to dynamically compensate the non-convex characteristics of speed constraint, combined with the projection constraint of flight airspace, to ensure stable cooperative control under the premise of meeting the physical limit and flight safety of unmanned aerial vehicle.
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