Cooperative Hunting Control for Multi-Underactuated Surface Vehicles
Bin-Bin Hu, Bin Liu, Hai‐Tao Zhang · 2018
In this study, a control scheme based on the distance and angle between the hunters and invader is designed for the cooperative hunting behavior of the underactuated surface vehicles, in presence of small uncertain disturbance. Based on the Lyapunov synthesis, it is proven that the cooperative hunting error asymptotically converges to zero when the desired immediate control signal of the hunter vehicle is realized. Then, a PID controller is performed to achieve immediate control signal of the hunter vehicle. Several simulation results demonstrate the effectiveness of the controller.