Keywords

Decentralized control, Differential game, Multi agent system

Abstract

In this dissertation, we consider differential games for multi-agent systems under distributed information where every agent is only able to acquire information about the others according to a directed information graph of local communication/sensor networks. Such games arise naturally from many applications including mobile robot coordination, power system optimization, multiplayer pursuit-evasion games, etc. Since the admissible strategy of each agent has to conform to the information graph constraint, the conventional game strategy design approaches based upon Riccati equation(s) are not applicable because all the agents are required to have the information of the entire system. Accordingly, the game strategy design under distributed information is commonly known to be challenging. Toward this end, we propose novel open-loop and feedback game strategy design approaches for Nash equilibrium and noninferior solutions with a focus on linear quadratic differential games. For the open-loop design, approximate Nash/noninferior game strategies are proposed by integrating distributed state estimation into the open-loop global-information Nash/noninferior strategies such that, without global information, the distributed game strategies can be made arbitrarily close to and asymptotically converge over time to the global-information strategies. For the feedback design, we propose the best achievable performance indices based approach under which the distributed strategies form a Nash equilibrium or noninferior solution with respect to a set of performance indices that are the closest to the original indices. This approach overcomes two issues in the classical optimal output feedback approach: the simultaneous optimization and initial state dependence. The proposed open-loop and feedback design approaches are applied to an unmanned aerial vehicle formation control problem and a multi-pursuer single-evader differential game problem, respectively. Simulation results of several scenarios are presented for illustration.

Notes

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Graduation Date

2013

Semester

Fall

Advisor

Qu, Zhihua

Degree

Doctor of Philosophy (Ph.D.)

College

College of Engineering and Computer Science

Department

Electrical Engineering and Computer Science

Degree Program

Electrical Engineering

Format

application/pdf

Identifier

CFE0005025

URL

http://purl.fcla.edu/fcla/etd/CFE0005025

Language

English

Release Date

December 2013

Length of Campus-only Access

None

Access Status

Doctoral Dissertation (Open Access)

Subjects

Dissertations, Academic -- Engineering and Computer Science, Engineering and Computer Science -- Dissertations, Academic

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