Unmanned ship formation control method based on dynamic event triggering

The invention discloses an unmanned ship formation control method based on dynamic event triggering, and belongs to the technical field of unmanned ship formation control, and the method comprises the steps: building an unmanned ship dynamic model according to unmanned ship data, and designing a sliding mode observer for external disturbance; according to the exponential convergence rate of sliding mode variable structure control, a dynamic event triggering consistency controller based on the unmanned ship dynamics model is designed by means of event triggering state variable errors; and the controller parameters are valued according to the constraint conditions so as to realize formation consistency of the multi-unmanned ship system. According to the invention, unnecessary communication resource consumption can be reduced, the communication cost is reduced, and the resource utilization rate is improved. 本发明公开了一种基于动态事件触发的无人船编队控制方法，属于无人船编队控制技术领域，包括：根据无人船数据建立无人船动力学模型，针对外部扰动设计了滑动模态观测器；根据滑动模态变结构控制的指数收敛率，利用事件触发状态变