Event-Triggered Practical Formation Control of Leaderless Unmanned Surface Vehicles With Environmental Disturbances
This brief designs the practical formation for leaderless unmanned surface vehicles with environmental disturbances. An undirected graph abstracts the communication network. By virtue of event-triggered mechanism, a novel control protocol is constructed to reduce control updates and save energy reso...
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| Veröffentlicht in: | IEEE transactions on circuits and systems. II, Express briefs Express briefs, 2024-03, Vol.71 (3), p.1326-1330 |
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| container_title | IEEE transactions on circuits and systems. II, Express briefs |
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| creator | Jiang, Xiangli Xia, Guihua |
| description | This brief designs the practical formation for leaderless unmanned surface vehicles with environmental disturbances. An undirected graph abstracts the communication network. By virtue of event-triggered mechanism, a novel control protocol is constructed to reduce control updates and save energy resources, whose feasibility is guaranteed by excluding the Zeno behavior. Based on algebraic graph theory and orthogonal decomposition method, the concerned formation problem is tackled by performing input-to-state stability analysis onto certain resultant subsystem such that formation errors are ultimately restricted within a bounded neighborhood of origin. The holistic formation movement is described by the explicitly characterized formation reference function. A numerical simulation is conducted to verify the derived results. |
| doi_str_mv | 10.1109/TCSII.2023.3325489 |
| format | Article |
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An undirected graph abstracts the communication network. By virtue of event-triggered mechanism, a novel control protocol is constructed to reduce control updates and save energy resources, whose feasibility is guaranteed by excluding the Zeno behavior. Based on algebraic graph theory and orthogonal decomposition method, the concerned formation problem is tackled by performing input-to-state stability analysis onto certain resultant subsystem such that formation errors are ultimately restricted within a bounded neighborhood of origin. The holistic formation movement is described by the explicitly characterized formation reference function. A numerical simulation is conducted to verify the derived results.</description><identifier>ISSN: 1549-7747</identifier><identifier>EISSN: 1558-3791</identifier><identifier>DOI: 10.1109/TCSII.2023.3325489</identifier><identifier>CODEN: ITCSFK</identifier><language>eng</language><publisher>New York: IEEE</publisher><subject>Autonomous vehicles ; Behavioral sciences ; Communication networks ; Disturbances ; Energy sources ; Event detection ; Event-triggered control ; Formation control ; Graph theory ; leaderless consensus ; practical formation ; Protocols ; Stability analysis ; Subsystems ; Surface vehicles ; Symmetric matrices ; unmanned surface vehicles ; Unmanned vehicles</subject><ispartof>IEEE transactions on circuits and systems. II, Express briefs, 2024-03, Vol.71 (3), p.1326-1330</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. 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A numerical simulation is conducted to verify the derived results.</description><subject>Autonomous vehicles</subject><subject>Behavioral sciences</subject><subject>Communication networks</subject><subject>Disturbances</subject><subject>Energy sources</subject><subject>Event detection</subject><subject>Event-triggered control</subject><subject>Formation control</subject><subject>Graph theory</subject><subject>leaderless consensus</subject><subject>practical formation</subject><subject>Protocols</subject><subject>Stability analysis</subject><subject>Subsystems</subject><subject>Surface vehicles</subject><subject>Symmetric matrices</subject><subject>unmanned surface vehicles</subject><subject>Unmanned vehicles</subject><issn>1549-7747</issn><issn>1558-3791</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2024</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNpNkNFKwzAUhosoOKcvIF4EvO5MTtq0uZS56WCgsE0vS5aebhltMpN24NvbuV14dQ6c__sPfFF0z-iIMSqfluPFbDYCCnzEOaRJLi-iAUvTPOaZZJfHPZFxliXZdXQTwo5SkJTDIAqTA9o2Xnqz2aDHknx4pVujVU2mzjeqNc6SsbOtdzVxFZmjKtHXGAJZ2UZZ2yOLzldKI_nErdH9iXyZdksm9mC8s01f35e9mNB2fq2sxnAbXVWqDnh3nsNoNZ0sx2_x_P11Nn6exxqSrI3LskppBrqSFCGnkq6F4EIxprUoqwQzIYWQmFPMQSYAolozAORKQZoK0HwYPZ569959dxjaYuc6b_uXBUieUxBZmvcpOKW0dyF4rIq9N43yPwWjxVFu8Se3OMotznJ76OEEGUT8B0DeVwr-C-8fd1Q</recordid><startdate>20240301</startdate><enddate>20240301</enddate><creator>Jiang, Xiangli</creator><creator>Xia, Guihua</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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| identifier | ISSN: 1549-7747 |
| ispartof | IEEE transactions on circuits and systems. II, Express briefs, 2024-03, Vol.71 (3), p.1326-1330 |
| issn | 1549-7747 1558-3791 |
| language | eng |
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| source | IEEE Electronic Library (IEL) |
| subjects | Autonomous vehicles Behavioral sciences Communication networks Disturbances Energy sources Event detection Event-triggered control Formation control Graph theory leaderless consensus practical formation Protocols Stability analysis Subsystems Surface vehicles Symmetric matrices unmanned surface vehicles Unmanned vehicles |
| title | Event-Triggered Practical Formation Control of Leaderless Unmanned Surface Vehicles With Environmental Disturbances |
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