Decision-Oriented Fixed-Time Control for Multi-USVs in Pursuit–Evasion Game Subject to Exogenous Disturbances
研究了多无人艇在纯追逃策略下的博弈问题，提出一种基于指数型函数逼近的决策导向固定时间速度调节控制器，并设计固定时间扰动观测器应对外部干扰，实现追逃目标。
This article investigates the pursuit–evasion (PE) game under the pure pursuit (or evasion) strategy for multi-uncrewed surface vehicles (USVs), along with the decision-oriented fixed-time velocity regulation controller (FTVRC) design. A novel exponential-type function approximation (ETFA) method is utilized to construct a differentiable performance index (PI), which reflects the decision-making basis for the player. Based on the differentiable PI, the player autonomously decides to generate the expected pursuit and evasion velocity, which includes size and direction information. To enable the player to execute its decision result, the FTVRC with a simple structure and low computational burden is designed to track the generated expected velocity. To cope with the unknown exogenous disturbances, a fixed-time disturbance observer (FTDO) is proposed to estimate the exogenous disturbances in real-time. According to the Lyapunov theory, all errors can achieve fixed-time convergence and the settling time is upper bounded. Finally, the simulation results show that the control scheme proposed in this article can achieve the PE target, and the superiorities of the ETFA method and the fixed-time control (FTC) method are demonstrated in the comparative simulations.