Cooperative Hunting Control for Multi-Underactuated Surface Vehicles
作者单位：School of Automation and the State Key Lab of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology
会议名称：《第37届中国控制会议》
会议日期：2018年
学科分类：08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 081102[工学-检测技术与自动化装置]
基 金：supported by National Natural Science Foundation(NNSF)of China under Grant 61673189
关 键 词：Cooperative hunting Lyapunov synthesis undercatuated surface vehicle
摘 要：In this study, a control scheme based on the distance and angle between the hunters and invader is designed for the cooperative hunting behavior of the underactuated surface vehicles, in presence of small uncertain disturbance. Based on the Lyapunov synthesis, it is proven that the cooperative hunting error asymptotically converges to zero when the desired immediate control signal of the hunter vehicle is realized. Then, a PID controller is performed to achieve immediate control signal of the hunter vehicle. Several simulation results demonstrate the effectiveness of the controller.