Formation Control of a Group of Quadrotor Aircraft Based on Nash Equilibrium

In this paper, a control method based on Nash equilibrium is proposed for the formation control of a group of quadrotor aircraft. Firstly, the dynamics and kinematics models of the quadrotor aircraft are established. Then, according to the kinematics and dynamics model of the quadrotor aircraft, the decision variable of the quadrotor aircraft is selected and the objective function of the quadrotor aircraft is designed. By analyzing the objective function of quadrotor aircraft, the Nash equilibrium solution of multi-quadrotor aircraft system is obtained. Finally, the feasibility and superiority of the proposed control method are verified by simulation experiment and comparative test.