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Distributed Event-Triggered Formation Control of USVs with Prescribed Performance

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Abstract

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

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Authors and Affiliations

  1. School of Automation and Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control, Guangdong University of Technology, Guangzhou, 510006, China

    Guangdeng Chen, Deyin Yao, Qi Zhou, Hongyi Li & Renquan Lu

Authors
  1. Guangdeng Chen
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  2. Deyin Yao
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  3. Qi Zhou
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  4. Hongyi Li
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  5. Renquan Lu
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Corresponding author

Correspondence to Deyin Yao.

Additional information

This work was 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, and the China Postdoctoral Science Foundation under Grant Nos. 2019M662813 and 2020T130124.

This paper was recommended for publication by Editor WU Zhengguang.

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Chen, G., Yao, D., Zhou, Q. et al. Distributed Event-Triggered Formation Control of USVs with Prescribed Performance. J Syst Sci Complex 35, 820–838 (2022). https://doi.org/10.1007/s11424-021-0150-0

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  • DOI: https://doi.org/10.1007/s11424-021-0150-0

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