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.
Fully Distributed Target Encircling Control of Autonomous Surface Vehicles Based on Noncooperative Games
IEEE Transactions on Intelligent Vehicles ; 9 , 4 ; 4769-4779
2024-04-01
3292814 byte
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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