Collision-free Cluster Formation Control of Autonomous Surface Vehicle Based on Artificial Potential Function

This paper studies the collision-free cluster formation control of autonomous surface vehicles subject to unknown internal uncertainties and unknown external disturbances. A collision-free cluster formation control method is presented based on fuzzy predictor to achieve safe formation tracking control in obstacle environments. Specifically, a fuzzy predictor is designed by using the fuzzy logic system. Then, a collision-free cluster formation controller based on artificial potential functions is proposed, which can autonomously avoid inter-agent collisions and static obstacle. By using the Lyapunov stability analysis, the closed system is input-to-state. Simulation results verify the effectiveness of the proposed method.