Abstract
With the development of the Marine power and the increasingly complex tasks and working environments of offshore operations, In view of the limitations of the cooperative control of a single multi-unmanned surface vessels system in a unilateral communication network, In this paper, a communication topology reconstruction method for the cooperative control of multiple multi-unmanned surface vessels systems in polymorphic network is studied. Firstly, a multi-lateral distributed cooperative control system framework for multiple multi-unmanned surface vessels is constructed based on a multi-agent system in polymorphic network. Secondly, for the formation of multiple multi-unmanned surface vessels that perform different tasks after networking, a communication topology reconstruction method is proposed, and a distributed control protocol is designed based on the external equitable partition to achieve multi-consensus. Finally, a simulation example is given to verify the effectiveness of the proposed method.
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