A distributed game strategy is studied to address the formation tracking and the disturbance rejection issues of unmanned aerial vehicle(UAV)and unmanned ground vehicle(UGV)cross-domain systems based on the leader-follower structure considering external disturbances.Firstly,a UAV-UGV formation tracking model with disturbances is established.Each UAV uses only local information to minimize its own performance index,while the entire cross-domain system attempts to seek an optimal decision based on the communication topology.Secondly,a game strategy under the worst-case disturbance is proposed.The existence of Nash equilibrium in the cross-domain system is rigorously proved.Then,a distributed terminal state observer is introduced to obtain a local implementation of the proposed game strategy.Finally,a UAV-UGV cross-domain system verification platform is established.The effectiveness of the proposed distributed game strategy is verified by a cross-domain formation tracking application case,which not only effectively rejects disturbances,but also forms the expected formation configuration.The difference in the performance index between the numerical simulation and the physical experiment does not exceed 0.6%,which also reflects the practicability of the proposed distributed game strategy.
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