Research On Event Triggered Cooperative Path Following Control Of Unmanned Surface Vessels

Unmanned surface vessels have the characteristics of high flexibility,hard to be found,low cost,etc.,and have huge application potential.In many applications such as underwater surveying,environmental monitoring,reconnaissance and early warning,and military strikes,multi-vessel coordination can greatly improve operational efficiency.Therefore,the cooperative control of USVs has important research value.This thesis mainly studies the cooperative tracking path problem of the under-actuated USV system.In order to reduce the number of communication between USVs,an event trigger mechanism is introduced,and a coordinated control algorithm for multiple USVs based on event trigger is designed.On this basis,the communication time lag between USVs is considered,and the corresponding event-triggered coordinated control algorithm is designed.The main work of this thesis is as follows.First,this thesis studies the cooperative path tracking of USVs under the event-triggered communication mechanism.Since USVs need to consider communication resources and carrying energy limitations in practical applications,the algorithm introduces an event trigger mechanism,and designs a coordinated control algorithm based on event triggers.Aiming at the problem that the UAV is interfered by ocean currents,an integrated LOS path tracking algorithm is designed.Finally,numerical simulations verify the effectiveness of the proposed cooperative path tracking control algorithm.Second,this thesis studies the cooperative path tracking control problem of USVs with communication time delay.In order to solve the problem of time lag in the cooperative communication of USVs,an event trigger mechanism is adopted to reduce the communication frequency between USVs based on the influence of time lag,and an event-triggered cooperative control algorithm for the time-delay system is designed.And based on the anti-stepping method,the path tracking problem of USV is solved.The Lyapunov direct method is used to analyze and prove the stability of the system.Finally,the model is numerically simulated to verify the feasibility and effectiveness of the proposed collaborative control algorithm.