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Event-Triggered Finite-Time Formation Control of Underactuated Multiple ASVs with Prescribed Performance and
Xuehong Tian1,2, Jianfei Lin1,2, Haitao Liu1,2
1Shenzhen Institute of Guangdong Ocean University, Shenzhen 518120, China.
Sensors (Basel, Switzerland)
|August 12, 2023
Summary
This study introduces an event-triggered finite-time controller for autonomous surface vessels (ASVs) to manage formation control, ensuring collision avoidance and communication distances. The proposed method enhances resource efficiency and achieves finite-time stability for all signals.
Area of Science:
- Robotics
- Control Systems Engineering
- Marine Engineering
Background:
- Autonomous Surface Vessels (ASVs) face challenges in coordinated formation control.
- Maintaining communication and avoiding collisions are critical for multi-vessel operations.
- Existing methods often struggle with communication load and achieving precise control.
Purpose of the Study:
- To develop an event-triggered finite-time control strategy for underactuated ASVs.
- To address formation control issues including collision avoidance and maintaining communication distances.
- To improve communication resource efficiency in multi-ASV systems.
Main Methods:
- Design of a desired tracking distance for collision and communication management.
- Implementation of an improved barrier Lyapunov function (BLF) for tracking error constraints.
- Utilizing an event-triggering strategy to reduce communication load.
- Application of coordinate transformation, Line of Sight (LOS), and Dynamic Surface Control (DSC).
Main Results:
- The proposed controller ensures collision avoidance and maintains desired communication distances.
- An improved BLF effectively constrains tracking errors.
- The event-triggering strategy significantly saves communication resources.
- All system signals achieve finite-time stabilization (PFS).
Conclusions:
- The developed finite-time formation control method is effective for underactuated ASVs.
- The approach successfully addresses collision avoidance, communication maintenance, and performance constraints.
- Numerical simulations confirm the proposed control system's effectiveness and finite-time stability.
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