Abstract This paper is concerned with sampled-data leader following consensus of multiple unmanned surface vehicle (MUSV) systems with random switching network topologies and wave-induced disturbance. By modelling the switching of network topologies with the use of a Markov process and considering the effect of wave-induced disturbance, a new sampled-data consensus control protocol is proposed. By employing an appropriate Lyapunov-Krosovskii function method and the weak infinitesimal operation, a novel stability criterion is derived, which ensures that the MUSV system can reach robustly leader-following consensus with $ H_{∞} $ performance satisfied. Based on this criterion, the Markov dependent switching consensus controller gains are obtained by solving a set of linear matrix inequalities. Finally, an illustrative example is given to verify the effectiveness of the proposed control scheme for MUSV systems.


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    Title :

    Consensus for Multiple Unmanned Surface Vehicle (Musv) Systems with Markov Switching Topologies


    Contributors:
    Wang, Liyuan (author) / Yue, Wei (author) / Zhang, Rubo (author)

    Published in:

    Polish Maritime Research ; 26 , 1 ; 145-152


    Publication date :

    2019




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    Unknown


    Classification :

    BKL:    55.40 Schiffstechnik, Schiffbau / 50.92 Meerestechnik




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