Nonfragile memory-based sampled-data control for Unmanned Surface Vehicles with time-varying coupling delay

This paper introduces a innovative methodology to the implementation of nonfragile memory-based sampled- data control, aimed at ensuring exponential stability for Unmanned Surface Vehicles (USVs) subject to time-varying coupling delays. To begin with, to address the global formation dynamics in leaderless swarm systems of Unmanned Surface Vehicles, an error function that characterizes an unforced dynamic system is presented, given specified initial conditions. Furthermore, in recognition of the practical hurdles posed by parameter uncertainties, continuous data transmission, and precise controller implementation, a novel memory- based sampled-data control protocol is proposed to enhance performance and cost efficiency. Subsequently, in light of dynamic disturbances and by accounting for the aforementioned factors, Lyapunov-Krasovskii functions (LKF) and Linear Matrix Inequalities (LMIs) are utilized to handle issues related to data sampling and time delays, guaranteeing exponential stability of the closed-loop system while achieving formation consistency. Finally, simulation results validate the effectiveness of the proposed control design methods.