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Game-Based Robust Formation Approaches for Networked Autonomous Surface Vessels With Input Dead-Zone and Decision-Making Constraints
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DOI：10.1002/rnc.70647.png)
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Abstract
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Without conceptualizing autonomous surface vehicles as perfect decision executors, this paper investigates the robust formation problem of networked autonomous surface vehicles (NASVs) with input dead-zone and decision-making constraints. To achieve a highly flexible formation, a noncooperative game is introduced to contribute the problem formulation. Then, two game-based robust formation approaches are proposed for NASVs to achieve distributed formation utilizing only partial information. Specifically, the first approach with a fast compensation mechanism is developed for the input dead-zone case, and the second one adopts the penalty function method to address additional decision-making constraints. Finally, the convergence analysis is based on a two-time-scale method and the results are verified by several simulation examples.
Keywords:
decision-making constraints
distributed formation
game-based robust approach
input dead-zone
networked autonomous surface vehicles (NASVs)
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