Multitarget Finite-Time Dynamic Encirclement Control for Multi-ASV Systems
研究了多艘自主水面艇在速度未知、通信有限、执行器饱和等条件下，通过自适应模糊状态观测器和终端滑模控制器，在有限时间内实现对多个目标的动态包围控制。
This article investigates the multitarget dynamic encirclement control for multiple autonomous surface vehicles (ASVs). The ASVs are subjected to unavailable velocity state information, finite communication resources, saturated actuators, model uncertainties, and environmental disturbances. The control objective is to enable an ASV team to perform encirclement maneuvers while tracking the convex combination of the states of multiple targets. Specifically, an adaptive fuzzy state observer (AFSO) is developed to estimate the unavailable velocity state information. Next, the system is divided into two regions to avoid singularities. A time-varying terminal sliding mode controller and a time-varying auxiliary sliding mode controller are designed for each region. By applying finite-time control theory, the multitarget dynamic encirclement can be achieved within a finite time. Moreover, a dynamic event-triggered mechanism (DETM) is proposed to optimize the use of communication resources. Finally, the validity of the obtained theory results is demonstrated through the Lyapunov analysis and numerical simulation.