Distributed Dynamic Event-Triggered Formation Control for Multiple Unmanned Surface Vehicles

This paper investigates the problem of distributed dynamic event-triggered formation control for multiple unmanned surface vehicles (USVs) subject to external disturbances. Firstly, a novel event-based distributed formation control scheme is proposed, under an undirected communication graph. Wherein...

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Bibliographic Details
Published in:IEEE access 2023, Vol.11, p.106397-106411
Main Authors: Xia, Fuming, Xiao, Yunfei, Li, Jixiang, Jing, Bo
Format: Article
Language:English
Subjects:
Adaptive control
Aerodynamics
Autonomous aerial vehicles
Autonomous vehicles
Behavioral sciences
Closed loops
Data transmission
Disturbances
Dynamic event-triggered
Event detection
Formation control
Heuristic algorithms
sliding mode control
Surface vehicles
Tracking errors
Uncertainty
unmanned surface vehicles
Unmanned vehicles
Vehicle dynamics
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Summary:This paper investigates the problem of distributed dynamic event-triggered formation control for multiple unmanned surface vehicles (USVs) subject to external disturbances. Firstly, a novel event-based distributed formation control scheme is proposed, under an undirected communication graph. Wherein, a dynamic event-triggered data transmission mechanism is designed for communication resource reduction. The time-varying dynamic parameter ensures fewer triggering instants and a larger triggering time interval compared with the traditional static one. The adaptive laws are incorporated into the formation control scheme to address the effects of external disturbances and uncertainties. Subsequent to the theoretical analysis, it can be concluded that the relative tracking errors can converge to the origin, and all closed-loop signals are bounded. Moreover, it is proved that the triggering time sequences do not exhibit Zeno behavior. Finally, a numerical simulation is performed to verify the effectiveness of the proposed distributed formation controller.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2023.3319210