Adaptive Fault-Tolerant Fuzzy Containment Control for Networked Autonomous Surface Vehicles: A Noncooperative Game Approach

This article investigates a containment control problem of networked autonomous surface vehicles (ASVs) with challenges of actuator faults, uncertainties, and environmental disturbances. There exist the individual tasks of networked ASVs and virtual leaders beyond the overall goal. The containment control can be transformed into a noncooperative game problem to balance individual and group objectives. With the noncooperative game theory, the containment task is reformulated as a Nash equilibrium seeking problem of networked ASVs regarded as players. To achieve the Nash equilibrium seeking of ASVs, a noncooperative-game-based fault-tolerant fuzzy containment controller is developed for networked ASVs with an adaptive compensation technique. First, a fuzzy predictor based on the high-order tuner is constructed to tackle the total disturbances. Next, a parameter estimator for unknown faults is designed using the adaptive compensation strategy. With identified disturbances and faults, a desired control law and an intermediate control variable are developed to enable ASVs to operate effectively despite faults. By the Lyapunov functions, theoretical results show that the actions of ASVs can converge to the neighborhood region of the Nash equilibrium. Finally, simulation results are presented to demonstrate the validity of the proposed fault-tolerant containment control method.