Distributed event-triggered affine formation control for multiple underactuated marine surface vehicles. (1st December 2022)

• Record Type: Journal Article
• Authors: Zheng, Yuxin; Zhang, Lei; Huang, Bing; Su, Yumin
• Is Part Of: Ocean engineering. Volume 265(2022)
• Publication Date: 2022-12-01
• Subjects: Underactuated marine surface vehicles -- Event-triggered control -- Affine transformation -- Formation control; Ocean engineering -- Periodicals; Ocean engineering; Periodicals; 620.4162
• DOI: 10.1016/j.oceaneng.2022.112607
• Languages: English
• ISSNs: 0029-8018

Abstract

Abstract: This article focuses on the distributed event-triggered affine formation control problem for multiple underactuated 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. 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 resources 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. Highlights: A distributed event-triggered affine formation control algorithm is developed to solve the trajectory tracking problem for UMSVs formation. A novel affine transformation mechanism is devised to enables UMSVs to move as a group in formation translation, shearing, rotation and scaling maneuvers. An event-triggered scheme is designed to update the measurement signal so as to save the communication resource.