Dissipative Leaderless Formation via Nonfragile Memory Sampled-Data Control for Unmanned Surface Vehicles With Switching Topologies

This article introduces the dissipative performance analysis into the formation control design for multiple unmanned surface vehicles (USVs) with exogenous disturbances. All USVs are coordinated under a leaderless framework, where the network communications are described by a set of undirected graph...

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Bibliographic Details
Published inIEEE/ASME transactions on mechatronics pp. 1 - 12
Main Authors Jiang, Xiangli, Xia, Guihua
Format Journal Article
LanguageEnglish
Published IEEE 2024
Subjects
Control systems
Data sampling
Formation control
leaderless formation
Markovian switching topologies
mode-dependent delays
Network topology
parameter perturbation
Perturbation methods
stochastic dissipativity
Switches
Topology
Vectors
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Summary:This article introduces the dissipative performance analysis into the formation control design for multiple unmanned surface vehicles (USVs) with exogenous disturbances. All USVs are coordinated under a leaderless framework, where the network communications are described by a set of undirected graphs varying in a Markovian switching manner. Without requiring continuously transmitted information, the memory sampled-data scheme is exploited to aperiodically sample the information of in-neighboring USVs for enabling discrete data transmission subject to time-varying delays dependent on Markovian jump modes. With the collection of the delayed sampling information, a nonfragile formation control protocol is novelly constructed not only to tolerate parameter perturbation but also to improve tuning performance. By defining formation error vectors facilitated with orthonormal transformation technique and algebraic graph theory, the concerned formation control problem is equivalently cast into analyzing the strict dissipativity of the resultant Markovian jump system with mode-dependent time-varying delays. To describe the holistic movement of the leaderless USV swarm, one promisingly derives a formation reference function characterized by a dynamical system with determined initial condition, whose state evolution is capable to be regulated. The validation of the theoretical results is performed by a water experiment.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2024.3391748