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

  • Xinyu Xing,
  • Peng Li,
  • Yang Xu

摘要

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.