Game Theory based Control Method for Multi-Agent Systems

Sep, 2022 - Present

Aims: explore in depth the interactions among agents in a multi-agent system, and then to design controllers by combining data-driven approach, game theory and formation control method, enhancing the capability of multi-agent systems.

Objects: Tethered Space Net Robot (TSNR)

Problems:

• Target is non-cooperation, and there is a need to plan a capture trajectory.
• The system is underactuated and constrained, satellites impact each other through the net.

Contribution:

• Developed a pursuit-evasion game to obtain the trajectory of the multi-agent system in the face of a dynamic target, and designed a robust adaptive control with artificial potential field to minimize tracking errors and maintain specific configurations.
• Proposed a novel formation control scheme that integrates data-driven approaches for modeling agent interactions and cooperative game frameworks for controlling satellites based on their coupled relationship.
• Published one journal article and one conference article by applying the proposed algorithm to tethered space net robot, and wrote a grant proposal by extending the proposed algorithm to satellite cluster.