This paper addresses cooperative target encircling of multiple autonomous surface vehicles (ASVs) with private and potentially competitive objectives. A fully distributed encircling control approach is proposed based on noncooperative games. Specifically, a fully distributed estimator with an adaptive gain is developed to estimate the target information without using global state or topology knowledge. Based on a low-frequency learning technique, a fuzzy predictor is presented to approximate the unknown vehicle kinematics induced by uncertain nonlinearities and environmental disturbances. By decoupling the cooperative target encircling into an encircling task and a spacing task, an encircling control law and a spacing control law are designed based on fully distributed Nash equilibrium seeking for achieving the private control objective of each ASV. The input-to-state stability of the closed-loop system is proven via cascade analysis. Simulation results are provided to illustrate the effectiveness of the noncooperative game-based control method for ASVs in circumnavigation missions.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Fully Distributed Target Encircling Control of Autonomous Surface Vehicles Based on Noncooperative Games


    Beteiligte:
    Jiang, Yue (Autor:in) / Li, Zhongkui (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2024-04-01


    Format / Umfang :

    3292814 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    A note of network equilibrium and noncooperative games

    Devarajan, Shantayanan | Elsevier | 1980



    Two-Player Noncooperative Games over a Freight Transportation Network

    Castelli, L. / Longo, G. / Pesenti, R. et al. | British Library Online Contents | 2004


    Encircling pole-climbing robot

    FENG YU / WU SHAOLEI / LING SONG et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    Encircling type underwater rescue robot

    CHENG ZEQIANG / XIE GUOPING / SUN QIANJIANG et al. | Europäisches Patentamt | 2023

    Freier Zugriff