Distributed Target–Attackers–Defenders Gaming Strategy of Heterogeneous Multiagent Systems With External Disturbances

In this study, we investigate a collective target–attacker–defender (TAD) gaming problem for heterogeneous multiagent systems (MASs) with external disturbances. Therein, the defenders coordinate with the motional target to resist the attackers. Due to the extra complexity induced by interacting roles, the analytical challenge lies in extracting the distributed gaming strategy for such heterogeneous MASs. To this end, a min-max gaming control framework is accordingly established for both intra-alliance cooperation and inter-alliance confrontation to solve the coupled Hamilton–Jacobi–Isaacs (HJI) equation. Preferably, the proposed TAD game framework can be employed in both dispersed and cohesive scenarios. Sufficient conditions are derived to guarantee the$\mathcal{L}_{2}$stability of the proposed collective TAD gaming scheme. Finally, both numerical simulations and lake-based multi-autonomous surface vehicle (ASV) gaming experiments are conducted to verify the effectiveness of the present TAD gaming strategy.