Event-Triggered Practical Formation Control of Leaderless Unmanned Surface Vehicles With Environmental Disturbances

This brief designs the practical formation for leaderless unmanned surface vehicles with environmental disturbances. An undirected graph abstracts the communication network. By virtue of event-triggered mechanism, a novel control protocol is constructed to reduce control updates and save energy reso...

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Bibliographic Details
Published inIEEE transactions on circuits and systems. II, Express briefs Vol. 71; no. 3; pp. 1326 - 1330
Main Authors Jiang, Xiangli, Xia, Guihua
Format Journal Article
LanguageEnglish
Published New York IEEE 01.03.2024
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Autonomous vehicles
Behavioral sciences
Communication networks
Disturbances
Energy sources
Event-triggered control
Formation control
Graph theory
Lead
leaderless consensus
practical formation
Protocols
Stability analysis
Subsystems
Surface vehicles
Symmetric matrices
unmanned surface vehicles
Unmanned vehicles
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Summary:This brief designs the practical formation for leaderless unmanned surface vehicles with environmental disturbances. An undirected graph abstracts the communication network. By virtue of event-triggered mechanism, a novel control protocol is constructed to reduce control updates and save energy resources, whose feasibility is guaranteed by excluding the Zeno behavior. Based on algebraic graph theory and orthogonal decomposition method, the concerned formation problem is tackled by performing input-to-state stability analysis onto certain resultant subsystem such that formation errors are ultimately restricted within a bounded neighborhood of origin. The holistic formation movement is described by the explicitly characterized formation reference function. A numerical simulation is conducted to verify the derived results.
ISSN:1549-7747
1558-3791
DOI:10.1109/TCSII.2023.3325489