Internal model observer-based distributed moving-target-fencing control of multiple underactuated marine surface vehicles with intermittent communications

This study addresses the moving target fencing (MTF) control problem of multiple underactuated marine surface vehicles (MSVs) with varying intermittent communication under a directed graph. A distributed internal model observer (DIMO) was proposed to estimate the target trajectory for each vehicle with intermittent communication. Combined with this observer, an MTF control scheme was developed to cooperatively fence a moving target in a convex hull that quasi-asymptotically rotates equally around the target at the centre. Collision avoidance was guaranteed simultaneously. Furthermore, the stability of the proposed control scheme was analysed using the Lyapunov theory. Finally, numerical examples and experiments are conducted to demonstrate the validity and stability of the proposed control approach.