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<p>Network’s reliability and mission flexibility are two crucial factors that constrain applications of networked unmanned surface vessels (USVs). This paper proposes a game-Theory based formation control strategy for multi-vessel system with period-adjustable communication mechanism such that (i) inter-vessel information regularly flows in a resource-saved manner, and (ii) individual task is reached when finishing the formation target. Considering the coupling coaction between neighboring communication and nonlinear model dynamics, a two-layered control structure is constructed, which comprises Nash equilibrium (NE) seeking layer and local tracking layer. In the NE seeking layer, a communication resource efficiency-oriented data sampling mechanism is adopted for inter-vessel communication so that each individual could enjoy interleaved interaction period. This guarantees formation members enjoy top-priority communication resource utilization at data sampling instants without sharing with others. Additionally, the maximum sample period is determined by system parameters, allowing each node to autonomously select interest-optimized interaction period. By assigning hierarchical weights to interaction links in switching topologies, the generated reference signals could approach the NE more accurately. Then, by establishing a NE-pursued controller in the tracking layer, USVs could navigate along the trajectories generated by NE seeking system, thus achieving the desired formation configuration. Finally, theoretical analysis and simulations are performed to demonstrate the feasibility of the proposed scheme.</p>

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Game theory-based formation control for networked unmanned surface vessels with weighted switching topology and dynamically assigned data sampling period

  • 期刊论文

  • 发表日期：

    2025年4月22日

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  • Xiuqing Ren,
  • Bing Huang,
  • Bin Zhou,
  • Hua Peng,
  • Zhen Zhang

摘要

Network’s reliability and mission flexibility are two crucial factors that constrain applications of networked unmanned surface vessels (USVs). This paper proposes a game-Theory based formation control strategy for multi-vessel system with period-adjustable communication mechanism such that (i) inter-vessel information regularly flows in a resource-saved manner, and (ii) individual task is reached when finishing the formation target. Considering the coupling coaction between neighboring communication and nonlinear model dynamics, a two-layered control structure is constructed, which comprises Nash equilibrium (NE) seeking layer and local tracking layer. In the NE seeking layer, a communication resource efficiency-oriented data sampling mechanism is adopted for inter-vessel communication so that each individual could enjoy interleaved interaction period. This guarantees formation members enjoy top-priority communication resource utilization at data sampling instants without sharing with others. Additionally, the maximum sample period is determined by system parameters, allowing each node to autonomously select interest-optimized interaction period. By assigning hierarchical weights to interaction links in switching topologies, the generated reference signals could approach the NE more accurately. Then, by establishing a NE-pursued controller in the tracking layer, USVs could navigate along the trajectories generated by NE seeking system, thus achieving the desired formation configuration. Finally, theoretical analysis and simulations are performed to demonstrate the feasibility of the proposed scheme.