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Robust adaptive synchronized event-triggered formation control of USVs with the fault amendment strategy

机译：Robust adaptive synchronized event-triggered formation control of USVs with the fault amendment strategy

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摘要

In this paper, the formation control of the underactuated surface vehicles (USVs) is studied in the presence of the condition of actuator fault and limited communication resources. Considering the performance charac-teristics of the underactuated surface vehicle (USV), a robust adaptive synchronized event-triggered formation control method is proposed under the usage of the event-triggered control (ETC) and robust neural damping technique. In consideration of the constant energy expenditure of the law of adaptation, the formulated control method is set in the mechanism of triggering by both the controller and the gain related adaptive law, which could cause the communication to reduce more much power consumption. The robust adaptive rule is fault compensated in the way of combining robust neural damping and dynamic surface control (DSC) techniques. Since the fault amendment strategy compresses inconclusive bias fault parameters and model uncertainty parameters, system stability can be enhanced under the premise of reducing the influence of adaptive parameters. A huge volume of work has taken place to ensure semi-global uniform ultimate bounded (SGUUB) stability. To conclude, the effectiveness of the algorithm is verified by two arithmetic examples.

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