Finite-Time Event-Triggered Attitude Consensus Control for Multiple Unmanned Surface Vessels
In order to save the communication resources and reduce the energy consumption of multiple Unmanned Surface Vessels(USVs),a finite-time consensus control algorithm based on event-triggered strategy is proposed.The distributed discontinuous control protocol is designed by the defined state error,and the trigger function for each USV is given.It is proved by Lyapunov theory that the finite-time heading consensus of multi-USVs can be achieved by choosing the appropriate control gain.Finally,numerical simulations are given to show the effectiveness of the proposed strategy.The multi-USV system only updates the controller when the trigger condition is reached,which reduces the network consumption,so it has important practical significance.
Multiple Unmanned Surface Vessels Event-triggered strategy Finite-time Consensus
Sichen Liu Qing Fei Changwen Wu Xiaosong Huang
Beijing Institute of Technology,Beijing 100081,China The Institute of Atmospheric Physics,Chinese Academy of Sciences,Beijing 100000,China
国际会议
江苏镇江
英文
720-727
2019-09-20（万方平台首次上网日期，不代表论文的发表时间）