Nonooperative Containment Control for Multiple Unmanned Surface Vehicles With Improved Extended State Observer

This paper investigates a distributed containment control problem of multiple autonomous surface vehicles (ASVs) in the presence of internal and external disturbances. Considering some ASV s with individual tasks, a noncooperative game-based control scheme is developed to achieve the containment behavior of multiple ASV s. To deal with the internal and external disturbances, we design an improved extended state observer (IESO). Using the Nash equilibrium seeking strategy, an IESO-based noncooperative containment controller is presented. It is proved that the closed-loop system is input-to-state stable, and position and heading of all ASVs converge to the Nash equilibrium as far as possible. Finally, simulation results are given to demonstrate the effectiveness of proposed scheme.