LYU M, GU N, LIU L, et al. Dynamic event trigger based cooperative path following control for multiple autonomous surface vehicles[J]. Chinese Journal of Ship Research, 2024, 19(X): 1–10 (in Chinese). DOI: 10.19693/j.issn.1673-3185.03774
Citation: LYU M, GU N, LIU L, et al. Dynamic event trigger based cooperative path following control for multiple autonomous surface vehicles[J]. Chinese Journal of Ship Research, 2024, 19(X): 1–10 (in Chinese). DOI: 10.19693/j.issn.1673-3185.03774

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

  • Objectives This paper addresses the cooperative path following control problem for multiple autonomous surface vehicles (ASVs) subject to limited network bandwidth, model uncertainties, and external disturbances.
    Methods A dynamic event-triggered cooperative path following control method is proposed. Specifically, a dynamic variable is introduced to design a dynamic event-triggered mechanism in the cooperation layer, and a dynamic event-triggered path parameter update law is designed to reduce network traffic. Additionally, a path parameter predictor is designed to estimate the path parameters of neighboring ASVs within 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 employed to estimate the total disturbances, and a super-twisting dynamic control law is designed based on the estimated disturbances.
    Results Stability and Zeno behavior analysis 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 ASVs.
    Conclusions The proposed method can achieve cooperative path following while reducing both transient and steady-state network traffic.
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