Observer-Based Finite-Time Dynamic Encirclement for Multi-ASV Systems Using Time-Varying Sliding Mode Control

Jiahui Zhang, Yue Yang, Kezhong Liu, Xiaochen Li

Abstract: Dynamic encirclement is a strategy employed to maintain ongoing monitoring or neutralize a target by restricting its range of movements. This paper proposes a novel approach to handle finite-time dynamic encirclement problems for multi-autonomous surface vehicle (ASV) systems. To be consistent with the actual task scenarios, each ASV faces challenges such as model uncertainties, unavailable velocities, saturated inputs, and external disturbances. Specifically, a fuzzy logic system (FLS) is utilized to approximate the nonlinear dynamics, and an adaptive fuzzy state observer is designed to estimate the unavailable velocities of the multi-ASV system. Next, a time-varying sliding mode controller is developed based on a time-varying formation function. In order to prevent singularity, the system is divided into two zones. A terminal sliding mode controller and a linear auxiliary sliding mode controller are assigned to each zone, respectively. Then, by applying finite-time theory, the dynamic encirclement issues of multi-ASV systems can be addressed within a finite time. Finally, the effectiveness of the obtained results can be verified by the Lyapunov theory and simulation examples presented.

Submission Number: 159