Abstract
This article addresses the optimal formation control for unmanned aerial
vehicles (UAVs) and unmanned ground vehicles (UGVs) system via a
distributed optimal control approach. A user-friendly global cost
function is well designed in a linear quadratic regulator (LQR) form.
The proper choice of the weighting matrices for optimizing the cost
function are given. To deal with the graph coupling of optimal control
and distributed control, we propose a distributed optimal formation
control protocol, and the protocol is independent of the communication
graph. The proposed protocol can guarantee the optimization of the cost
function and the achievement of the formation control. Three simulation
examples are provided to demonstrate the results.