中国舰船研究2025，Vol.20Issue(1)：213-222,10.DOI:10.19693/j.issn.1673-3185.03774
基于动态事件触发的多无人船协同路径跟踪控制
Dynamic event trigger based cooperative path following control for multiple unmanned surface vehicles
摘要
Abstract
[Objectives]A dynamic event-triggered collaborative path-following control method for mul-tiple unmanned surface vehicles(USVs)is proposed,considering the constraints of network bandwidth re-sources,model uncertainties,and external environmental disturbances.[Methods]Specifically,a dynamic variable is introduced to design a dynamic event-triggered mechanism at the cooperation layer,and a dynamic event-triggered path parameter update law is developed to reduce network traffic.Additionally,a path-para-meter predictor is designed to estimate the path parameters of neighboring USVs during the communication in-terval.In the guidance layer,a line-of-sight-based guidance law is proposed.Finally,in the control layer,a su-per-twisting observer is used to estimate the total disturbances,and a super-twisting dynamic control law is de-veloped based on the estimated disturbances.[Results]Stability and Zeno behavior analyses demonstrate that the closed-loop system is input-to-state stable,and the proposed approach does not exhibit Zeno behavior.Comparative simulation results validate the effectiveness of the proposed dynamic event-triggered cooperative path-following control method for USVs.[Conclusions]The proposed method can achieve cooperative path following while reducing both transient and steady-state network traffic.关键词
无人船/导航/动态事件触发/协同路径跟踪/有限时间控制Key words
unmanned vehicles/navigation/dynamic event trigger/cooperative path following/finite-time control分类
交通工程引用本文复制引用
吕旻高,古楠,刘陆,王安青,王丹,彭周华..基于动态事件触发的多无人船协同路径跟踪控制[J].中国舰船研究,2025,20(1):213-222,10.基金项目
国家自然科学基金面上项目资助(52471372,52071044,62203081) （52471372,52071044,62203081）
辽宁省自然科学基金计划资助项目(2024-BS-012) （2024-BS-012）
大连市基础重大项目(2023JJ11CG008) （2023JJ11CG008）
大连市科技创新基金资助项目(2022JJ12GX034) （2022JJ12GX034）
大连海事大学博联科研基金与基本科研业务费项目(3132023508) （3132023508）
