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.


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    Title :

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


    Contributors:
    Jiang, Yue (author) / Li, Zhongkui (author)

    Published in:

    Publication date :

    2024-04-01


    Size :

    3292814 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



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