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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    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



    Microdoppler: NonCooperative Target Classification/Identification

    A. Lovett / C. Shen / W. Otaguro et al. | NTIS | 2000


    Observability-Based Space Noncooperative Target Motion Estimation

    Zhang, Yijie / Wang, Jiongqi / Sun, Bowen et al. | IEEE | 2025


    A note of network equilibrium and noncooperative games

    Devarajan, Shantayanan | Elsevier | 1980


    Encircling pole-climbing robot

    FENG YU / WU SHAOLEI / LING SONG et al. | European Patent Office | 2020

    Free access