Time-Varying Formation-Surrounding Control for Multiquadrotors Pursuit–Evasion Games With Disturbances and Collision Avoidance

This article addresses the time-varying formation-surrounding control (FSC) problem for the multiple quadrotors pursuit–evasion (MQPE) games subject to time-varying disturbances and collision constraints. First, two appointed-fixed-time observers are presented to estimate the position and velocity of the evader leader within the user-appointed time. Then, based on the ${{H}_\infty }$ robust control theory and artificial potential function, the novel cost functions are designed for quadrotors to deal with disturbances and collision problems. Subsequently, the adaptive dynamic programming based time-varying FSC schemes are proposed to solve the MQPE games, which employ critic-only neural networks to approximate the optimal cost functions. Finally, rigorous theory analyses and numerical simulation examples are provided to demonstrate the Nash equilibrium of MQPE games and the effectiveness of the proposed control schemes.