ObjectivesA dynamic event-triggered collaborative path-following control method for multiple unmanned surface vehicles (USVs) is proposed, considering the constraints of network bandwidth resources, model uncertainties, and external environmental disturbances.MethodsSpecifically, a dynamic variable is introduced to design a dynamic event-triggered mechanism at the cooperation layer, and a dynamic event-triggered path parameter update law is developed to reduce network traffic. Additionally, a path-parameter predictor is designed to estimate the path parameters of neighboring USVs during the communication interval. In the guidance layer, a line-of-sight-based guidance law is proposed. Finally, in the control layer, a super-twisting observer is used to estimate the total disturbances, and a super-twisting dynamic control law is developed based on the estimated disturbances.ResultsStability and Zeno behavior analyses demonstrate that the closed-loop system is input-to-state stable, and the proposed approach does not exhibit Zeno behavior. Comparative simulation results validate the effectiveness of the proposed dynamic event-triggered cooperative path-following control method for USVs. ConclusionsThe proposed method can achieve cooperative path following while reducing both transient and steady-state network traffic.


    Access

    Download


    Export, share and cite



    Title :

    Dynamic event trigger based cooperative path following control for multiple unmanned surface vehicles


    Contributors:
    Mingao LÜ (author) / Nan GU (author) / Lu LIU (author) / Anqing WANG (author) / Dan WANG (author) / Zhouhua PENG (author)


    Publication date :

    2025




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    Swarm-based path-following for cooperative unmanned surface vehicles

    Bibuli, Marco / Bruzzone, Gabriele / Caccia, Massimo et al. | SAGE Publications | 2014



    Self-triggered cooperative path following control of fixed wing Unmanned Aerial Vehicles

    Jain, R. Praveen / Aguiar, A. Pedro / Sousa, Joao | IEEE | 2017