Event-Triggered Zero-Sum Game for Safety Control of Autonomous Surface Vehicles
针对存在非对称时变饱和的自主水面船舶，提出一种事件触发零和微分博弈框架，集成障碍函数与非二次型价值函数，同时实现安全控制与干扰抑制，并降低计算负担。
This article investigates the problem of disturbance attenuation for autonomous surface vehicles (ASVs) subject to asymmetric time-varying saturation. To address this challenge, we propose a novel event-triggered (ET) zero-sum (ZS) differential game framework that integrates a barrier function and a nonquadratic value function, enabling simultaneous achievement of safety control and disturbance attenuation. Initially, by designing a barrier function, the control problem of the asymmetric time-varying saturated ASV system is transformed into an unsaturated form. Afterward, a nonquadratic value function is designed, and ZS games are employed to obtain the saturated-optimal control policy and the worst-case disturbance policy. Then, the ET method is introduced into policy execution and critic neural network learning. The scheme in this article ensures the safety and stability of the ASV while reducing computational burden and meeting the needs of disturbance attenuation. Finally, theoretical analysis and simulation experiments verify the feasibility of the ET ZS differential game approach.