Unmanned surface vehicle group consistency tracking control method and system

The invention relates to an unmanned surface vehicle group consistency tracking control method and system, and the method comprises the steps: taking a plurality of unmanned surface vehicles as a multi-agent system, and building a multi-agent system input and output model according to the multi-agent system; establishing a course control subsystem model according to a course angle, an angular velocity and a rudder angle of the unmanned surface vehicle; a dynamic event triggering mechanism is introduced into communication of the course control subsystem model; combining the multi-agent system input and output model, the course control sub-model and the dynamic event triggering mechanism to establish a differential dynamic event triggered model-free adaptive controller; and performing consistency tracking control on the multi-agent system according to the model-free adaptive controller triggered by the differential dynamic event. According to the method, the problems that communication resources are limited and