Synthesized Optimal Control by Group Interaction of Quadcopters*

The problem of optimal control for interaction of three robots is considered. To solve the problem, the synthesized optimal control method is used. According to this method, firstly the synthesis problem of control system for each robot is solved. The synthesized control system allows to stabilize robot relatively some point in the state space. On the second stage positions of some stabilization points are found in the state space such that at switching these points from one to the next through a set time interval, robots move a cargo from initial position to terminal one with optimal value of quality criterion. For the solution of the synthesis problem the symbolic regression method is used. All phase constraints describing group interaction and obstacles, have included in quality criterion as a penalty functions. For searching positions of the points the evolutionary algorithm particle swarm optimization is used.