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.


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    Title :

    Formation Control of Multiple Unmanned Surface Vehicles Based on Dynamic Deadband Intermittent Event-Triggered Strategy


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Liang (editor) / Duan, Haibin (editor) / Deng, Yimin (editor) / Xing, Xinyu (author) / Li, Peng (author) / Xu, Yang (author)

    Conference:

    International Conference on Guidance, Navigation and Control ; 2024 ; Changsha, China August 09, 2024 - August 11, 2024



    Publication date :

    2025-03-02


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English







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