Distributed Optimal Formation Control for Unmanned Surface Vessels by a Regularized Game-Based Approach
Jun Shi, Maojiao Ye
Abstract
Dear Editor, This letter explores optimal formation control for a network of unmanned surface vessels (USVs). By designing an individual objective function for each USV, the optimal formation problem is transformed into a noncooperative game. Under this game theoretic framework, the optimal formation is achieved by seeking the Nash equilibrium of the regularized game. A modular structure consisting of a distributed Nash equilibrium seeker and a regulator is proposed, which is theoretically shown to be effective to steer USVs towards the optimal formation. A numerical simulation example is provided to demonstrate the effectiveness of the proposed method.
Topics & Concepts
Nash equilibriumComputer scienceModular designUnmanned surface vehicleOptimal controlMathematical optimizationGame theorySurface (topology)Control (management)Control theory (sociology)Mathematical economicsMathematicsArtificial intelligenceEngineeringGeometryOperating systemMarine engineeringDistributed Control Multi-Agent SystemsAdaptive Control of Nonlinear SystemsGuidance and Control Systems