Control Barrier Performance Function-Based Cooperative Formation With Parallel Dynamic Event-Triggering Strategy

被引：4

作者：

Wang, Peng ^{[1
]}

Liang, Xiaoling ^{[2
]}

Peng, Xiuhui ^{[1
]}

Lu, Yu ^{[3
]}

Ge, Shuzhi Sam ^{[4
]}

机构：

[1] Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing 211106, Peoples R China

[2] Dalian Maritime Univ, Sch Marine Engn, Dalian 116026, Peoples R China

[3] Nanjing Univ Sci & Technol, Sch Energy & Power Engn, Nanjing 210094, Peoples R China

[4] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117576, Singapore

来源：

IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS | 2024年 / 54卷 / 07期

基金：

中国国家自然科学基金;

关键词：

Vehicle dynamics; Kinetic theory; Vectors; Safety; Stability criteria; Maintenance; Lyapunov methods; Control barrier performance function (CBPF); cooperative formation; event-triggering; input saturation; SURFACE VEHICLES; ADAPTIVE-CONTROL;

D O I：

10.1109/TSMC.2024.3385365

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article investigates the control barrier performance function (CBPF)-based event-triggered cooperative formation control of underactuated unmanned surface vehicles (USVs) under the consideration of input saturation. Compared with the cooperative formation commonly studied in existing literature, three distinct features of the present work are: 1) the conflict between consensus performance-related constraint and the control capability limitation gets balanced based on CBPF-based control; 2) the CBPF-based path updating alleviates the negative cooperative coupling for performance constraint maintenance; and 3) the parallel dynamic event-triggering (PDET) mechanism under the nonrecursive design framework reduces the update frequency of the controllers by adjusting the triggering threshold and gain in parallel. Numerical simulations are provided to verify the validity of the obtained theoretical results.

引用

页码：4552 / 4564

页数：13

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