Improved Artificial Potential-Based Formation Control of Multi-USV Systems for Collision and Obstacle Avoidance Under GPS Attacks

• Published in: International Conference on Information Science and Technology pp. 810 - 820
• Main Authors: Cheng, Sen, Li, Xiaochen, Yang, Yue
• Format: Conference Proceeding
• Language: English
• Published: IEEE 06.12.2024
• Subjects: artificial potential field methods; Collision avoidance; Formation control; Global Positioning System; GPS attacks; Information science; Kinetic theory; Nonlinear dynamical systems; Protocols; Stability analysis; Uncertainty; Underactuated surface vessels; unmanned surface vessel
• ISSN: 2573-3311
• DOI: 10.1109/ICIST63249.2024.10805370

This paper proposes a formation control method for multi-Unmanned Surface Vessel (USV) systems with collision avoidance and obstacle avoidance under GPS attacks. Each USV is subject to unknown kinetics induced by internal model uncertainty, input saturation, and external disturbances. First, the external environmental disturbance and nonlinear dynamics of the multi-USV systems are handled using the fuzzy logic system. Second, a protocol for the formation control of multi-USV systems under GPS attacks is designed. The collision avoidance and obstacle avoidance issues are addressed by an improved artificial potential field (APF) method. Based on the Lyapunov theory, the stability of the closed-loop multi-USV systems can be guaranteed. Finally, simulation examples demonstrate the effectiveness of the proposed control method.