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Optimization of collective control of a drone cluster


V.I. Merkulov, V.P. Khar’kov, N.N. Shamarov

A modification with low computing cost of collective control of a drone cluster based on mathematical apparatus of statistical theory of optimal control in Letov-Kalman statement while optimizing sectional interests is proposed. Reduction of computing cost is achieved by two methods: decomposition of the original state vector and substitution of unitary quadratic form in merit functional for a sum of quadratic forms of decomposed state vectors; transition from simultaneous control of the whole drone cluster to sequential individual control of the each drone from the cluster, accounting for control errors for the whole cluster.
June 24, 2020
May 29, 2020

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