Distributed Event-Triggered Formation Control of USVs with Prescribed Performance

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 ensu...

Full description

Saved in:
Bibliographic Details
Published inJournal of systems science and complexity Vol. 35; no. 3; pp. 820 - 838
Main Authors Chen, Guangdeng, Yao, Deyin, Zhou, Qi, Li, Hongyi, Lu, Renquan
Format Journal Article
LanguageEnglish
Published Berlin/Heidelberg Springer Berlin Heidelberg 01.06.2022
Springer Nature B.V
Subjects
Collision avoidance
Complex Systems
Control
Feedback control
Graph theory
Mathematics
Mathematics and Statistics
Mathematics of Computing
Neural networks
Operations Research/Decision Theory
Statistics
Systems Theory
Event-triggered control
prescribed performance
underactuated surface vessels (USVs)
formation control
Online AccessGet full text

Cover

More Information
Summary: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.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ISSN:1009-6124
1559-7067
DOI:10.1007/s11424-021-0150-0