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Adaptive Containment Control for Unmanned Surface Vessels

An adaptive distributed containment control strategy is developed for unmanned Surface vessels(USVs) systems in this paper. The leaders in the system are linear second-order model, while the model of followers is with unknown nonlinear dynamics. To solve the problem of a non-linear dynamic system with unknown followers, neural networks are used in the proposed containment control algorithm to approximate the non-linear terms online, thereby counteracting the effects of the non-linear terms. Based on Lyapunov stability theory and graph theory, a adaptive second-order non-linear multiagent containment control method is proposed. The system can achieve the desired containment control effect. In order to further verify the effectiveness of the proposed algorithm, a simulation experiment was conducted.