Adaptive Fuzzy Formation Control for Underactuated Multi-USVs With Dynamic Event-Triggered Communication
针对存在建模不确定性的欠驱动多无人水面艇，提出一种采用动态事件触发通信的自适应模糊编队控制方法，通过模糊逻辑系统估计不确定性、设计分布式滤波器和局部观测器，提升通信效率并保证闭环稳定性。
This article introduces an adaptive fuzzy control methodology employing dynamic event-triggered communication for underactuated multiple unmanned surface vehicles (USVs) with modeling uncertainties. The key innovations of the proposed formation control strategy can be summarized as follows: 1) each USV is equipped with a dynamic event-triggered mechanism, ensuring that the controller and neighboring USVs receive position and yaw angle information only when this mechanism is triggered, enhancing communication efficiency; 2) distributed filters are implemented to continuous the event-triggered information; and 3) by employing the fuzzy logical systems (FLSs) to identify the unknown modeling uncertainties, local observers are designed to estimate unavailable velocity and yaw rate. Based on the dynamic event-triggered mechanism, distributed filters and local observers, a nondifferentiable-free backstepping procedure is proposed. The closed-loop stability is proven through Lyapunov stability theory, and Zeno behavior of the dynamic event-triggered mechanism is demonstrated through reductio. Simulation results are presented to validate the effectiveness of the proposed control strategy.