A Method of Capturing Control Based on Game Theory for Multiple Underactuated Underwater Vehicles

This paper address the problem of capturing control of multiple underactuated underwater vehicles (UUVs). The capturing control algorithm is designed based on learning game theory. This algorithm inherits the learning game theory’s nature, that is, simplification and convergence. The property of learning makes the algorithm robust and autonomous. At the same time, this algorithm also has collision avoidance and obstacle avoidance capabilities. Based on the algorithm and the line of sight method, the way point tracking controller is designed. Based on the Lyapunov stability theory and adaptive backstepping iterative design method, precise tracking control of the UUV speed, heading and distance is achieved. Finally, simulation results illustrate the validity of the proposed controller.

I. Introduction

The encirclement problem is a research hot topic in multi-agent systems for task requirements. The encirclement mission requires communication and interconnection between multiple agents. We need to assign tasks to multi-agent systems based on the target of the encirclement and develop an encirclement strategy. In addition, it is necessary to implement the encirclement strategy into the motion control of multi-agent systems (such as heading control, speed control, etc.). When formulating a encirclement strategy, we need to consider the game problem between the encirclement agent and the target agent.