Fully distributed dynamic event-triggered formation control for multiple unmanned surface vehicles

被引：0
|
作者：
Huang B. [1 ]
Xiao Y.-F. [2 ]
Feng Y. [2 ]
Yu X.-P. [2 ]
机构：
[1] Department of Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Heilongjiang, Harbin
[2] College of Intelligent Systems Science and Engineering, Harbin Engineering University, Heilongjiang, Harbin
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2023年 / 40卷 / 08期
基金：
中国国家自然科学基金;
关键词：
adaptive control; cooperative control; dynamic event-triggered; fully distributed; unmanned surface vehicles;
D O I：
10.7641/CTA.2022.11067
中图分类号：
学科分类号：
摘要：
This paper investigates the problem of fully distributed dynamic event-triggered formation control for multiple unmanned surface vehicles (USV) based on the sliding mode and adaptive control algorithm. Firstly, under the condition of limited communication resources, a novel dynamic event-triggered data transmission mechanism is proposed to reduce the communication frequency and bandwidth occupation. Compared with existing formation controllers, the controller does not require global information of the communication network. Then, a fully distributed formation controller is designed, which can make the tracking errors of multiple unmanned surface vehicles converge to a small region near the origin and all closed-loop signals reach a stable state even without knowing the relative speed information. Moreover, it is proved that the triggering time sequences do not exhibit Zeno behaviour under the proposed formation control algorithm. Finally, numerical simulation is performed to verify the effectiveness of the proposed distributed formation controller. © 2023 South China University of Technology. All rights reserved.
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页码：1479 / 1487
页数：8
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