Distributed Equally Surrounding Control for Multiple Unmanned Surface Vessels
Fulong Hu, Chuancong Tang, Bin-Bin Hu, Bowen Xu, Hai‐Tao Zhang · 2022 41st Chinese Control Conference (CCC) · 2022
This paper proposes a distributed controller to equally surround a static target with multiple unmanned surface vessels (USVs). By utilizing the mutually repulsive method, the proposed controller addresses the equally surrounding problem, taking into account the influence of time-varying topologies, and the total number USVs which is a 'global information is not used in the controller. The asymptotic convergence of the closed-loop multi-USV system is guaranteed with rigorous proof. Finally, the effectiveness of the controller is verified by numerical simulations.