Distributed Event-Triggered Formation Control of USVs with Prescribed Performance

作     者：CHEN Guangdeng YAO Deyin ZHOU Qi LI Hongyi LU Renquan CHEN Guangdeng;YAO Deyin;ZHOU Qi;LI Hongyi;LU Renquan

作者机构：School of Automation and Guangdong Province Key Laboratory of Intelligent Decision and Cooperative ControlGuangdong University of TechnologyGuangzhou 510006China 

出 版 物：《Journal of Systems Science & Complexity》 (系统科学与复杂性学报（英文版）)

年 卷 期：2022年第35卷第3期

页      面：820-838页

核心收录：

学科分类：08[工学] 082402[工学-轮机工程] 0835[工学-软件工程] 0824[工学-船舶与海洋工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 

基　　金：partially supported by the National Natural Science Foundation of China under Grant Nos.62033003,62003098,61973091 the Local Innovative and Research Teams Project of Guangdong Special Support Program under Grant No.2019BT02X353 the China Postdoctoral Science Foundation under Grant Nos.2019M662813 and 2020T130124 

主　　题：Event-triggered control formation control prescribed performance underactuated surface vessels(USVs) 

摘      要：In this paper,the formation control problem is investigated for a team of uncertain underactuated surface vessels(USVs)based on a directed *** 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 *** event-triggered mechanism is designed to reasonably use the limited communication ***,neural networks(NNs)and an auxiliary variable are constructed to deal with the problems of uncertain nonlinearities and underactuation,***,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.