Inverse optimal formation control of mobile agents with collision avoidance driven by Levy processes

This paper formulates and solves a new problem of formation control for a group of second-order dynamic mobile agents with collision avoidance driven by Levy processes with unknown characteristics. First, a new result on inverse optimal control design for nonlinear systems driven by Levy processes without having to solve a Hamilton-Jacobi-Bellman equation or a Hamilton-JaccobiIsaacs equation is developed. Second, the newly developed result together with the Lyapunov direct and backstepping methods, and potential functions will be then used to solve the posed inverse optimal formation control problem for the mobile agents with limited sensing ranges. (C) 2020 Elsevier Ltd. All rights reserved.