Distributed Event-Triggered Formation Control of USVs with Prescribed Performance

被引：82
作者：
Chen Guangdeng [1 ,2 ]
Yao Deyin [1 ,2 ]
Zhou Qi [1 ,2 ]
Li Hongyi [1 ,2 ]
Lu Renquan [1 ,2 ]
机构：
[1] Guangdong Univ Technol, Sch Automat, Guangzhou 510006, Peoples R China
[2] Guangdong Univ Technol, Guangdong Prov Key Lab Intelligent Decis & Cooper, Guangzhou 510006, Peoples R China
来源：
JOURNAL OF SYSTEMS SCIENCE & COMPLEXITY | 2022年 / 35卷 / 03期
基金：
中国国家自然科学基金; 中国博士后科学基金;
关键词：
Event-triggered control; formation control; prescribed performance; underactuated surface vessels (USVs); TRACKING CONTROL; SYSTEMS; COMPENSATION; VEHICLES;
D O I：
10.1007/s11424-021-0150-0
中图分类号：
O1 [数学];
学科分类号：
0701 ; 070101 ;
摘要：
In this paper, the formation control problem is investigated for a team of uncertain underactuated surface vessels (USVs) based on a directed graph. Considering the risk of collision and the limited communication range of USVs, the prescribed performance control (PPC) methodology is employed to ensure collision avoidance and connectivity maintenance. An event-triggered mechanism is designed to reasonably use the limited communication resources. Moreover, neural networks (NNs) and an auxiliary variable are constructed to deal with the problems of uncertain nonlinearities and underactuation, respectively. Then, an event-triggered formation control scheme is proposed to ensure that all signals of the closed-loop system are uniformly ultimately bounded (UUB). Finally, simulation results are presented to demonstrate the effectiveness of the proposed control scheme.
引用
收藏
页码：820 / 838
页数：19
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