Abstract
AbstractThis paper investigates the formation tracking control of unmanned surface vehicles (USVs) swarm based on prescribed performance control and the event-triggered mechanism. A prescribed performance controller is designed to keep the formation tracking errors in pre-set boundary. Considering the environmental disturbance, the finite-time sliding mode observer is constructed such that the disturbance can be accurately estimated in finite-time. Furthermore, the event-triggered scheme is introduced to reduce the occupancy of the communication network while encountering the effect of communication bandwidth restrictions on the performance of USVs formation control system. The finite-time prescribed performance controller and the event-triggered strategy has been combined, which guarantees that the actuator updated aperiodically only when the pre-designed event-triggered threshold is satisfied. Finally, the derived closed-loop system stability is proved by Lyapunov theory and the effectiveness of the proposed control scheme is demonstrated by the simulation results.KeywordsUnmanned surface vehicles formationPrescribed performance controlFinite-timeEvent-triggered
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