Adaptive Formation Keeping and Interception of Autonomous Surface Vehicles with Partial Actuator Faults

Abstract

AbstractThis paper investigates a formation keeping and multi-attacker interception problem of autonomous surface vehicles (ASVs) with partial actuator faults. Based on graph theory, backstepping and adaptive techniques, a new adaptive fault-tolerant formation control scheme including the interception of attackers is developed. First, distributed formation control laws are designed with local position interaction. Second, a degree driven formation interception (DDFI) algorithm is used to determine defenders. Third, adaptive interception control laws are derived only by position vectors of attackers. It is shown that using the proposed scheme, desired formation configurations are achieved and multiple attackers are intercepted if original interaction topology of ASVs is connected. Main advantage of this scheme is that formation controllers of remaining ASVs except defenders needn’t to be redesigned faced with attackers. Simulations are presented to verify our theoretical results.KeywordsAdaptiveFormationInterceptionFault-tolerantVehicles