Safety-Critical Game-Based Formation Control of Underactuated Autonomous Surface Vehicles  

作　　者：Nan Gu Haoliang Wang Anqing Wang Lu Liu 

机构地区：[1]School of Marine Electrical Engineering,Dalian Maritime University,Dalian 116026 [2]School of Science,Computing and Engineering Technologies,Swinburne University of Technology,Melbourne VIC 3122,Australia [3]School of Marine Engineering,Dalian Maritime University,Dalian 116026,China [4]School of Marine Electrical Engineering,Dalian Maritime University,Dalian 116026,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2023年第4期1102-1104,共3页自动化学报（英文版）

基　　金：This work was supported in part by the National Natural Science Foundation of China(52271304);the Dalian High-level Talents Innovation Support Program(2022RQ010,2020RQ013,2022RY07);the Postdoctoral Research Foundation of China(2022M720619);the Doctoral Scientific Research Foundation of Liaoning Province(2023-BS-155);the Basic Scientific Research Project of Higher Education Department of Liaoning Province(LJKZ0044);Dalian Science and Technology Innovation Fund(2022JJ12GX034).

摘　　要：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 AS Vs 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.

关 键 词：METHOD SYSTEM LETTER 

分 类 号：U495[交通运输工程—交通运输规划与管理] TP273[交通运输工程—道路与铁道工程]