Event-triggered time-varying formation control method for six-degree-of-freedom unmanned surface vessel

• Main Authors: YU FUPING, YUAN GANGSHUO, SHEN DI, WANG NING, WAN LUJUN, LYU MAOLONG
• Format: Patent
• Language: Chinese; English
• Published: 12.04.2024
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention provides an event-triggered time-varying formation control method for multiple six-degree-of-freedom unmanned surface vessels. The event-triggered time-varying formation control method comprises the following steps: establishing kinematics and dynamics models of the six-degree-of-freedom unmanned surface vessels; an event triggering mechanism is designed for each unmanned surface vessel, and whether position information needs to be transmitted to the adjacent unmanned surface vessel at the current moment is judged; designing an event-triggered time-varying formation error vector # imgabs0 # and an event-triggered time-varying observation formation error # imgabs1 #, and designing adaptive laws of distributed state estimation filtering # imgabs2 # and a sea surface expected path approximation vector [mu] i. D; designing a backstepping recursion error surface and a kinematics guidance law alphai; designing a radial basis function neural network and an adaptive law of an unknown disturbance compens