Consensus for multiple unmanned surface vehicle (MUSV) systems with Markov switching topologies

• Autorzy: Wang Liyuan , Yue Wei , Zhang Rubo

Identyfikatory

DOI

10.2478/pomr-2019-0016

• Języki publikacji: EN

Abstrakty

EN

This paper is concerned with sampled-data leader following consensus of multiple unmanned surface vehicle (MUSV) systems with random switching network topologies and wave-induced disturbance. By modelling the switching of network topologies with the use of a Markov process and considering the effect of wave-induced disturbance, a new sampleddata consensus control protocol is proposed. By employing an appropriate Lyapunov-Krosovskii function method and the weak infinitesimal operation, a novel stability criterion is derived, which ensures that the MUSV system can reach robustly leader-following consensus with H∞ performance satisfied. Based on this criterion, the Markov dependent switching consensus controller gains are obtained by solving a set of linear matrix inequalities. Finally, an illustrative example is given to verify the effectiveness of the proposed control scheme for MUSV systems.

Słowa kluczowe

EN

consensus; unmanned surface vehicle (USV); Markov process; wave-induced disturbance

• Wydawca: Gdańsk University of Technology, Faculty of Ocean Engineering & Ship Technology
• Czasopismo: Polish Maritime Research
• Rocznik: 2019
• Tom: nr 1
• Strony: 145--152
• Opis fizyczny: Bibliogr. 18 poz., rys.

Twórcy

autor

Wang Liyuan

• Dalian Minzu University Liaohe West Road Jinzhou New District, 116600 Dalian China

autor

Yue Wei

• Dalian Maritime University Ganjingzi Street, 116026 Dalian China

autor

Zhang Rubo

• Dalian Minzu University Liaohe West Road Jinzhou New District, 116600 Dalian China

Bibliografia

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Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).