Distributed Consensus of USVs under Heterogeneous UAV-USV Multi-Agent Systems Cooperative Control Scheme

This paper addresses the formation motion control of heterogeneous multi-agent unmanned systems via a distributed consensus approach. The considered heterogeneous system consisted of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs). A leader-following consensus scheme and APF method are used to construct UAV-USVs Formation task requirements. A fuzzy-based sliding mode control approach is proposed to ensure the formation assembles in a finite time, and the finite-time stability is proved by the Lyapunov stability theorem. To highlight the cooperation within the heterogeneous systems, such as UAV and USV, a novel vision-based path re-planning approach is proposed. Simulation results confirm the efficiency of the proposed approach.

Automated summary

This paper discusses the formation motion control of heterogeneous multi-agent unmanned systems using a distributed consensus approach, considering unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs). A fuzzy-based sliding mode control approach is proposed to ensure finite-time formation assembly, with finite-time stability proven by Lyapunov stability theorem. A novel vision-based path re-planning approach is introduced to highlight cooperation within heterogeneous systems like UAVs and USVs.