Adaptive Containment Control for Unmanned Surface Vessels
Yuhao Mao, Qihe Shan, Tieshan Li, Shun Kun Yang, Qihang Yi · 2021 International Conference on Security, Pattern Analysis, and Cybernetics（SPAC) · 2021
An adaptive distributed containment control strategy is developed for unmanned Surface vessels(USVs) systems in this paper. The leaders in the system are linear second-order model, while the model of followers is with unknown nonlinear dynamics. To solve the problem of a non-linear dynamic system with unknown followers, neural networks are used in the proposed containment control algorithm to approximate the non-linear terms online, thereby counteracting the effects of the non-linear terms. Based on Lyapunov stability theory and graph theory, a adaptive second-order non-linear multiagent containment control method is proposed. The system can achieve the desired containment control effect. In order to further verify the effectiveness of the proposed algorithm, a simulation experiment was conducted.