Abstract
For the problems of limited communication bandwidth and frequent triggering of actuators during the formation navigation, comprehensively considering the safety performance and coordinated control performance, a novel composite error event-triggered-based formation control strategy is proposed. Firstly, design an event-triggered-based finite-time extended state observer, which can not only quickly estimate the compound disturbances and velocity information simultaneously, but also reduce the communication frequency between sensor and observer. Secondly, considering the communication frequency and coordinated control performance of the whole formation system, a composite error based on the state information of adjacent underactuated vessels is defined, and it is used as a factor of the event-triggered mechanism. Then, by combining the exponential potential energy function, the composite error event-triggered-based formation controller is designed. And through stability analysis, we known that all signals of the system are uniformly ultimately bounded. Furthermore, the Zeno phenomenon that exists in event-triggered control can also be avoided completely. Finally, through simulation results and comparative analysis, the effectiveness of the composite error event-triggered-based formation control scheme for safe navigation control and reducing communication frequency and triggering frequency has been verified.
Published Version
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