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.