Journal
OCEAN ENGINEERING
Volume 265, Issue -, Pages -Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2022.112607
Keywords
Underactuated marine surface vehicles; Event-triggered control; Affine transformation; Formation control
Funding
- National Key Research and Development Program of China [2021YFC2803400]
- Science and Technology on Underwater Vehicle Laboratory [JCKYS2022SXJQR-12, JCKYS2021SXJQR-06]
- China Postdoctoral Science Foundation [2020M681081]
- Hei Long Jiang Postdoctoral Foundation [LBHZ20130]
- National Natural Science Foundation of China [52071100]
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This article focuses on the distributed event-triggered affine formation control problem for multiple under-actuated marine surface vehicles (UMSVs) considering affine transformation and communication energy consumption under a directed interaction topology. Firstly, the affine transformation mechanism is adopted to improve the flexibility and maneuverability of the formation. Then, an event-triggered mechanism is proposed to reduce communication frequency between vehicles and save computation resources while excluding the Zeno behavior. Numerical simulations demonstrate the effectiveness of the proposed formation controller.
This article focuses on the distributed event-triggered affine formation control problem for multiple under-actuated marine surface vehicles (UMSVs) considering affine transformation and communication energy con-sumption under a directed interaction topology. Firstly, the affine transformation mechanism is adopted to improve the flexibility and maneuverability of the formation. The proposed technique allows a rich collection of collective motions such as translation, rotation, scaling, and the combination of these transformations. Then, unlike the event-triggered control of a single marine vehicle, this paper considers reducing communication frequency between vehicles. Thus, an event-triggered mechanism is proposed, which can save computation re-sources compared with traditional ones while excluding the Zeno behavior. Subsequently, it is proved that all signals in the closed-loop system are ultimately uniformly bounded (UUB), meanwhile, all tracking errors converge to a small compact set under the proposed control strategy. Finally, numerical simulations illustrate the effectiveness of the proposed formation controller.
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