Fuzzy containment control for multi‐USV systems based on communication topology reconstruction

Abstract To deal with the uncertainties caused by the nonlinearity and disturbances of practical positions in multi‐unmanned surface vehicle (USV) systems, this paper investigates fuzzy containment control based on communication topology reconstruction. First, based on the practical experiments, Takagi–Sugeno (T‐S) fuzzy parameters of USV systems are determined to design controllers. Subsequently, to disperse the convergence positions of USVs, communication topology reconstruction is utilized to remove redundant communication links and add necessary ones, which can achieve the appropriate algebraic connectivity of multi‐USV systems. Ultimately, simulation results demonstrate the effectiveness of the proposed control method.