Nash Equilibrium Seeking for Networked Marine Surface Vehicles Based on Fully Actuated System Approach

Due to the complex interdependence among vehicles in the network, the nonlinear characteristics presented by networked marine surface vehicles (NMSVs) pose difficulties for the design of control algorithms. To address this issue, this paper proposes a Nash equilibrium seeking algorithm based on fully actuated system (FAS) approach. The FAS approach is used to transform the nonlinear control problem of NMSVs into a linear problem, thereby enabling more effective analysis and solution of the system's dynamic characteristics. By adopting this approach, the proposed algorithm helps to achieve Nash equilibrium in the networked system and ensures that the cost functions of NMSVs reach their optimal values respectively. Appropriate Lyapunov functions are designed to obtain the parameter conditions for achieving Nash equilibrium of the system. Finally, the effectiveness of this method is verified through a numerical simulation.