Dynamic event-triggered formation maneuver in cooperative marine surface vehicles control over directed communication networks

This article focuses on the dynamic event-triggered formation control problem for multiple marine surface vehicles (MSVs) considering model uncertainties and external disturbances under a unidirectional communication topology. Firstly, a model-parameter-free control strategy is developed to compensa...

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Veröffentlicht in:Ocean engineering Jg. 281; S. 114622
Hauptverfasser: Zheng, Yuxin, Zhang, Lei, Huang, Bing, Zhu, Cheng, Su, Yumin
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Elsevier Ltd 01.08.2023
Schlagworte:
Dynamic event-triggered mechanism
Formation control
Marine surface vehicles
Model-parameter-free
Marine surface vehicles
Formation control
Model-parameter-free
Dynamic event-triggered mechanism
ISSN:0029-8018, 1873-5258
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Zusammenfassung:This article focuses on the dynamic event-triggered formation control problem for multiple marine surface vehicles (MSVs) considering model uncertainties and external disturbances under a unidirectional communication topology. Firstly, a model-parameter-free control strategy is developed to compensate for the adverse effect of parameter uncertainty and time-varying external disturbances by resorting to the sliding mode philosophy and the adaptive law. In contrast to backstepping-based formation control schemes, the proposed control scheme circumvents the complexity explosion, and there is no complex calculation process. Thus, it has a relatively simple structure. After that, to reduce the communication frequency among inter-MSVs, a dynamic event-triggered control (DETC) mechanism is developed. Compared with the existing event-triggered mechanism, the proposed controller ensures fewer triggering instants among vehicles. Finally, theoretical analysis and numerical simulations have shown the effectiveness and superiorities of the proposed methods. •A novel model-parameter-free control strategy is developed to compensate for the adverse effect of parameter uncertainty and time-varying external disturbances.•A dynamic event-triggered mechanism is designed to reduce network traffic while guaranteeing the system's performance and stability.•The proposed methods possess the properties of high robustness and applicability.
ISSN:0029-8018
1873-5258
DOI:10.1016/j.oceaneng.2023.114622