Safety-Critical Game-Based Formation Control of Underactuated Autonomous Surface Vehicles

Dear Editor, This letter addresses the noncooperative formation control of multiple underactuated autonomous surface vehicles (ASVs) in an obstacle-laden environment. Each ASV is subject to external disturbances and fully unknown model parameters. A safety-critical game-based formation control method is proposed such that the multiple ASVs are able to track a reference trajectory, and accomplish each individual interest in safety behaviors simultaneously. The stability and safety analyses show that the closed-loop system is input-to-state stable (ISS), and the multi-ASV system is guaranteed for input-to-state safety (ISSf). Simulation results substantiate the proposed safety-critical game-based formation control method.