Chinese Journal of Ship Research, Volume. 20, Issue 1, 213(2025)

Dynamic event trigger based cooperative path following control for multiple unmanned surface vehicles

Mingao LÜ1...2, Nan GU1, Lu LIU1, Anqing WANG1, Dan WANG1 and Zhouhua PENG1 |Show fewer author(s)
Author Affiliations
  • 1College of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China
  • 2School of Mathematics and Statistics, Ludong University, Yantai 264025, China
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    Objectives

    A dynamic event-triggered collaborative path-following control method for multiple unmanned surface vehicles (USVs) is proposed, considering the constraints of network bandwidth resources, model uncertainties, and external environmental disturbances.

    Methods

    Specifically, a dynamic variable is introduced to design a dynamic event-triggered mechanism at the cooperation layer, and a dynamic event-triggered path parameter update law is developed to reduce network traffic. Additionally, a path-parameter predictor is designed to estimate the path parameters of neighboring USVs during the communication interval. In the guidance layer, a line-of-sight-based guidance law is proposed. Finally, in the control layer, a super-twisting observer is used to estimate the total disturbances, and a super-twisting dynamic control law is developed based on the estimated disturbances.

    Results

    Stability and Zeno behavior analyses demonstrate that the closed-loop system is input-to-state stable, and the proposed approach does not exhibit Zeno behavior. Comparative simulation results validate the effectiveness of the proposed dynamic event-triggered cooperative path-following control method for USVs.

    Conclusions

    The proposed method can achieve cooperative path following while reducing both transient and steady-state network traffic.

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    Mingao LÜ, Nan GU, Lu LIU, Anqing WANG, Dan WANG, Zhouhua PENG. Dynamic event trigger based cooperative path following control for multiple unmanned surface vehicles[J]. Chinese Journal of Ship Research, 2025, 20(1): 213

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    Paper Information

    Category: Motion Control

    Received: Feb. 1, 2024

    Accepted: --

    Published Online: Mar. 13, 2025

    The Author Email:

    DOI:10.19693/j.issn.1673-3185.03774

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