Distributed Event-Triggered Formation Control of USVs with Prescribed Performance

被引：77
|
作者：
Chen Guangdeng [1 ,2 ]
Yao Deyin [1 ,2 ]
Zhou Qi [1 ,2 ]
Li Hongyi [1 ,2 ]
Lu Renquan [1 ,2 ]
机构：
[1] Guangdong Univ Technol, Sch Automat, Guangzhou 510006, Peoples R China
[2] Guangdong Univ Technol, Guangdong Prov Key Lab Intelligent Decis & Cooper, Guangzhou 510006, Peoples R China
来源：
JOURNAL OF SYSTEMS SCIENCE & COMPLEXITY | 2022年 / 35卷 / 03期
基金：
中国博士后科学基金; 中国国家自然科学基金;
关键词：
Event-triggered control; formation control; prescribed performance; underactuated surface vessels (USVs); TRACKING CONTROL; SYSTEMS; COMPENSATION; VEHICLES;
D O I：
10.1007/s11424-021-0150-0
中图分类号：
O1 [数学];
学科分类号：
0701 ; 070101 ;
摘要：
In this paper, the formation control problem is investigated for a team of uncertain underactuated surface vessels (USVs) based on a directed graph. Considering the risk of collision and the limited communication range of USVs, the prescribed performance control (PPC) methodology is employed to ensure collision avoidance and connectivity maintenance. An event-triggered mechanism is designed to reasonably use the limited communication resources. Moreover, neural networks (NNs) and an auxiliary variable are constructed to deal with the problems of uncertain nonlinearities and underactuation, respectively. Then, an event-triggered formation control scheme is proposed to ensure that all signals of the closed-loop system are uniformly ultimately bounded (UUB). Finally, simulation results are presented to demonstrate the effectiveness of the proposed control scheme.
引用
收藏
页码：820 / 838
页数：19
相关论文
共 50 条
  • [41] Distributed event-triggered control for multi-agent formation stabilization
    Viel, Christophe
    Bertrand, Sylvain
    Kieffer, Michel
    Piet-Lahanier, Helene
    IFAC PAPERSONLINE, 2017, 50 (01): : 8025 - 8030
  • [42] Distributed secure formation control for autonomous surface vessels by performance adjustable event-triggered mechanism
    Zheng, Yuxin
    Zhang, Lei
    Huang, Bing
    Su, Yumin
    INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2023, 33 (14) : 8490 - 8507
  • [43] A novel event-triggered robust neural formation control for USVs with the optimized leader-follower structure
    Zhang, Guoqing
    Yu, Wei
    Li, Jiqiang
    Zhang, Xianku
    OCEAN ENGINEERING, 2021, 235
  • [44] Robust Composite Dynamic Event-Triggered Control for Multiple USVs with DLLOS Guidance
    Zhang, Guoqing
    Liu, Shang
    Li, Bo
    Zhang, Xianku
    JOURNAL OF MARINE SCIENCE AND ENGINEERING, 2022, 10 (02)
  • [45] Distributed Event-triggered Control for Voronoi Coverage
    Hayashi, Naoki
    Muranishi, Yu
    Takai, Shigemasa
    PROCEEDINGS OF FIRST INTERNATIONAL CONFERENCE ON EVENT-BASED CONTROL, COMMUNICATION AND SIGNAL PROCESSING EBCCSP 2015, 2015,
  • [46] Periodic event-triggered adaptive neural control of USVs under replay attacks
    Xu, Zhengyue
    Zhu, Guibing
    Xu, Yang
    Ding, Li
    OCEAN ENGINEERING, 2024, 306
  • [47] Distributed Event-Triggered Control of DC Microgrids
    Peng, Jiangkai
    Fan, Bo
    Yang, Qinmin
    Liu, Wenxin
    IEEE SYSTEMS JOURNAL, 2021, 15 (02): : 2504 - 2514
  • [48] Event-Triggered Finite-Time Formation Control of Underactuated Multiple ASVs with Prescribed Performance and Collision Avoidance
    Tian, Xuehong
    Lin, Jianfei
    Liu, Haitao
    Huang, Xiuying
    SENSORS, 2023, 23 (15)
  • [49] Fixed-time event-triggered sliding mode cooperative path-following control with prescribed performance for USVs based on lumped disturbance observer
    Wang, Chao
    Liang, Xiao
    Yu, Changdong
    Liu, Dianyong
    Li, Wei
    OCEAN ENGINEERING, 2023, 289
  • [50] Distributed prescribed performance pinning synchronization for complex dynamical networks with event-triggered communication protocols
    Fan, Aili
    Li, Junmin
    Wei, Chengzhou
    JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2020, 357 (03): : 1790 - 1812
12345