This paper studies formation control of multiple unmanned surface vehicles (MUSVs) system with external disturbances, communication interruptions and model parametric uncertainties. To complete formation missions, a formation controller is designed by defining an appropriate sliding-mode variable with superior tracking capability for reference model consisted of an auxiliary variable. Meanwhile, an intermittent framework is utilized for anti-interference ability of system. To decrease communication, a dynamic event-triggered mechanism (ETM) is studied with nonlinear coupled communication protocol. Different from general ETM, the existence of positive MIET is proven. Finally, numerical simulations demonstrate the effectiveness of the proposed control method.
Formation Control of Multiple Unmanned Surface Vehicles Based on Dynamic Deadband Intermittent Event-Triggered Strategy
Lect. Notes Electrical Eng.
International Conference on Guidance, Navigation and Control ; 2024 ; Changsha, China August 09, 2024 - August 11, 2024
02.03.2025
9 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch