Synchronization Tracking Of Uncertain Nonidentical Multi-USV system

Abstract

We propose a distributed adaptive synchronous tracking control algorithm for the heterogeneous multi-unmanned surface vehicles described by the Euler-Lagrange system. In multi-unmanned surface vehicles system, the inter-communication state can be represented by a directed topology graph, and only part of unmanned surface vehicles can directly acquire the accurate information of time-varying reference trajectory. The proposed algorithm can implement synchronous tracking for multiple unmanned surface vehicles without knowing global communication information by elaborately selecting Lyapunov functions. We conduct theoretical analysis of the stability of closed-loop systems according to the Lyapunov stability theory. And we also verify the effectiveness of proposed scheme through numerical simulation.