Optimal Control Design of Dynamical Tracking for Connected and Automated Vehicles

With the development of UAV technology, the re-search of leader-follower formation tracking has been extensively studied due to its simple formation structure and communication connection. However, the high maneuverability and dynamics of UAVs make the formation tracking control much more complicated and difficult. In this paper, the optimal formation control algorithms are proposed for both near-equilibrium and general dynamic control cases considering the time-varying leader velocity and communication delays. In near-equilibrium control case, a linear optimal control strategy is proposed, and the function coefficient can be derived by using a backward recursion. Then, the result of the near-equilibrium case is extended to the general dynamic case where the leader moves at an uncertain time-varying velocity. In each sampling period, based on the updated state information of UAVs, the optimal formation control strategy can be obtained by the same algorithm design approach as the near-equilibrium case, and the function coefficient is the convergent value deduced by using a backward recursion manner.