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Guaranteed-connectivity-based distributed robust event-triggered tracking of multiple underactuated surface vessels with uncertain nonlinear dynamics

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Abstract

In this paper, we propose a distributed and robust event-triggered tracking methodology with guaranteed network connectivity and tracking performance for synchronization of multiple uncertain underactuated surface vessels (USVs) under limited communication range. To achieve the guaranteed connectivity and performance, the individual position errors among USVs are nonlinearly transformed by time-varying functions and local heading angle errors using approach angles are newly presented. Based on these error functions, the local tracking controllers with asynchronous event-triggering laws are designed for uncertain USV followers without employing adaptive and approximation techniques. Using Lyapunov stability theorem, it is shown that the stability, connectivity maintenance, and tracking performance of the proposed control system are ensured.

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Acknowledgements

This research was supported by the Human Resources Development (No. 20174030201810) of the Korea Institute of Energy Technology Evaluation and Planning (KETEP) grant funded by the Korea government Ministry of Trade, Industry and Energy, and by the National Research Foundation of Korea (NRF) grant funded by the Korea government (NRF-2019R1A2C1004898 and NRF-2019R1A2C1087552).

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Authors and Affiliations

  1. School of Electrical and Electronics Engineering, Chung-Ang University, 84 Heukseok-Ro, Dongjak-Gu, Seoul, 06974, South Korea

    Sung Jin Yoo

  2. Division of Electrical, Electronic, and Control Engineering, Kongju National University, Cheonan, South Korea

    Bong Seok Park

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  1. Sung Jin Yoo
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Correspondence to Bong Seok Park.

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Yoo, S.J., Park, B.S. Guaranteed-connectivity-based distributed robust event-triggered tracking of multiple underactuated surface vessels with uncertain nonlinear dynamics. Nonlinear Dyn 99, 2233–2249 (2020). https://doi.org/10.1007/s11071-019-05432-5

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