计算机与数字工程2023，Vol.51Issue(12)：3045-3049,5.DOI:10.3969/j.issn.1672-9722.2023.12.049
基于事件触发的无人艇协调路径跟踪控制
Coordinated Path Tracking Control of Unmanned Boat Based on Event Trigger
庄海飞 1李建祯1
作者信息
- 1. 江苏科技大学电子信息学院 镇江 212003
- 折叠
摘要
Abstract
Time delay exists in coordinated communication among USVs.The purpose of this paper is to study USVs coordinat-ed control with time delay in communication for the path tracking of USVs formation.Firstly,the path tracking controller of a single USV is based on the adaptive backstepping method when movement of USV is disturbed by the outside world.Secondly,considering the time-varying delays in communication topology,USVs coordinated controller is based on Lyapunov's direct method and graph theory.Thirdly,an event-triggered delay coordination control law is proposed to reduce the number of communications effectively.Finally,simulation results show the effectiveness of the proposed coordinated algorithm.关键词
无人艇/路径跟踪/事件触发/反步法Key words
unmanned boat/path tracking/event trigger/backstepping method分类
信息技术与安全科学引用本文复制引用
庄海飞,李建祯..基于事件触发的无人艇协调路径跟踪控制[J].计算机与数字工程,2023,51(12):3045-3049,5.
