This article investigates the distributed event‐triggered affine formation maneuver control problem for multiple underactuated surface vessel (USV) systems with positive minimum inter‐event times (MIET). Unlike common formation control methods that only ensure the formation system to keep a fixed geometric shape, the proposed scheme enables multiple USVs maneuver as a group in translation, shearing, rotation, or combinations of them. The proposed control strategy is composed of two parts. First, a distributed event‐triggered observer (DETO) is proposed to observe the time‐varying target formation under the lack of global leaders' information and govern the inter‐vessel communications among the formation group. Besides, the MIET of the designed communication strategy is proved to be strictly positive and computable from formation configurations and control parameters. With these guarantees, the maximum communication frequency can be known in advance. Then, upon the DETO signals, the adaptive local tracking controller is subsequently synthesized for each vessel to realize the target formation track. Rigorous theoretical analysis and simulation results are finally conducted to verify the validness and effectiveness of the proposed algorithm.

Distributed observer based event‐triggered affine formation maneuver control for underactuated surface vessels with positive minimum inter‐event times

In this paper, a distributed bearing-based formation control scheme with finite-time convergency is proposed for multiple underactuated surface vessels (USVs). By virtue of the guide point-based model transformation method, the dimension of underactuated tracking error dynamics can be reduced from three to two. This allows us to convert the actuator model to a fully form that matches dimension-reduced tracking error dynamics. Further, to reduce the computation complexity, a finite-time recruited filter is designed according to first-order Levant differentiator. At meanwhile, auxiliary error compensation signals are introduced to address unknowns stemming from filter process and system dynamics. Since merely relative-distances and inner bearings are utilized in the proposed bearing-based formation approaches, the proposed control scheme provides a feasible solution to achieve formation control under body-fixed frame. Finally, theoretical analysis and numerical simulations are presented to demonstrate the efficacy. 

Distributed finite-time bearing-based formation control for underactuated surface vessels with Levant differentiator.

More credible communication reliability and more economical resource consumption are technological trends for multiple leaderless unmanned surface vehicles (USVs), while the realistic marine environment severely threatens system communication quality. Within this context, this paper investigates the leaderless formation control problem of USVs experiencing inter-vehicle communication interruptions. Concretely, by establishing the formation error system, the concerned leaderless formation control problem is tactfully transformed into the formation error consensus problem. Taking communication interruptions into account, a distributed controller is developed to achieve formation error consensus with intermittent inter-vehicle communications. Simultaneously, to endow the leaderless formation system with high economy, a novel intermittent dynamic interleaved periodic event-triggered mechanism (IDIPETM) is integrated into the controller synthesis, leaving the USVs to interact with each other only at preset periodic event-detecting instants. By assigning exclusive interleave bias to each vehicle, the proposed IDIPETM naturally eliminates the possibility that multiple USVs simultaneously broadcast information, thereby eradicating the communication congestion phenomenon inherent in the existing periodic event-triggered mechanisms. Finally, the theoretical analysis and simulation results are provided to evaluate the effectiveness and superiority of the proposed control scheme.

An Anti-Congestion Interaction Mechanism Based Leaderless Formation Control for Unmanned Surface Vehicles With Communication Interruptions

Dynamic event-triggered trajectory tracking control for underactuated marine surface vessels with positive minimum inter-event time guarantees

Distributed Predefined-Time Optimization Control for Networked Marine Surface Vehicles Subject to Set Constraints

This article addresses the distributed formation control issue of cooperative unmanned surface vessels (USVs) under interleaved periodic event-triggered communications. First, an adaptive event-based control protocol is designed, where the event-based neural network (NN) scheme is developed to compensate for uncertain model dynamics. Upon the designed control protocol, an interleaved periodic event-triggered mechanism (IPETM) is subsequently proposed to achieve the communication objective. Unlike the common continuous event-triggered methods and periodic event-triggered methods, in which multiple nodes are allowed to trigger their events at the same time, the proposed IPETM ensures that USVs detect their events at different times to avoid the simultaneous event triggering of different nodes. By this virtue, traffic jamming in common wireless environments can be prevented, such that potential communication delays and faults are naturally avoided. In addition, the event detecting instants of the presented IPETM are also discrete and periodic, such that it can be performed under low-computational frequencies. Through Lyapunov-based analysis, it is verified that all closed-loop signals can converge to an arbitrary small compact set with exponential convergence rates. Simulation results demonstrate the effectiveness and superiority of the proposed control scheme.

Interleaved Periodic Event-Triggered Communications-Based Distributed Formation Control for Cooperative Unmanned Surface Vessels.

This article studies the two‐layer leader‐follower optimal affine formation maneuver (AFM) control problem for multiple unmanned surface vessels (USV). The basic idea of the developed two‐layer control framework is to realize the time‐varying formation for the leader group in advance, and then let the follower USVs agilely respond to the target formation affinely localized by leaders. To realize this goal, a time‐varying formation reference system is first synthesized to describe leaders' target formation in the affine map of the nominal configuration. The reference system is set up by virtual vessel velocity command and unrotated geometric command, which make it possesses an intuitive application structure for operators to plan AFM commands in real‐time sensed surrounding environments. Then, by means of optimized backstepping design and the adaptive dynamic programming technique, actor‐only reinforcement learning controllers are established for USVs in both two layers to realize the optimal target formation tracking objective. For the proposed optimal controllers, the persistent excitation condition that is required by common optimal control schemes is also removed, which endows the presented scheme with lower computational complexity. Finally, theoretical analysis and simulation results illustrate the closed‐loop stability and the effectiveness of the presented scheme.

Two‐layer leader‐follower optimal affine formation maneuver control for networked unmanned surface vessels with input saturations

Trajectory tracking control for autonomous underwater vehicles under quantized state feedback and ocean disturbances

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Papers

Interleaved Periodic Event-Triggered Communications-Based Distributed Formation Control for Cooperative Unmanned Surface Vessels.

Two‐layer leader‐follower optimal affine formation maneuver control for networked unmanned surface vessels with input saturations

Trajectory tracking control for autonomous underwater vehicles under quantized state feedback and ocean disturbances

Dynamic event-triggered trajectory tracking control for underactuated marine surface vessels with positive minimum inter-event time guarantees