Safety-Critical Game-Based Formation Control of Underactuated Autonomous Surface Vehicles
Nan Gu, Haoliang Wang, Anqing Wang, Lu Liu
Abstract
Dear Editor, This letter addresses the noncooperative formation control of multiple underactuated autonomous surface vehicles (ASVs) in an obstacle-laden environment. Each ASV is subject to external disturbances and fully unknown model parameters. A safety-critical game-based formation control method is proposed such that the multiple ASVs are able to track a reference trajectory, and accomplish each individual interest in safety behaviors simultaneously. The stability and safety analyses show that the closed-loop system is input-to-state stable (ISS), and the multi-ASV system is guaranteed for input-to-state safety (ISSf). Simulation results substantiate the proposed safety-critical game-based formation control method.