文献类型：期刊文献

英文题名：Event-triggered predefined-time H? formation control for multiple underactuated surface vessels with error constraints and input quantization

作者：Liu, Haitao[1,2];Li, Yongzhuo[1];Tian, Xuehong[1,2];Mai, Qingqun[1,2]

机构：[1]Guangdong Ocean Univ, Sch Mech Engn, Zhanjiang 524088, Peoples R China;[2]Guangdong Ocean Univ, Shenzhen Inst, Shenzhen 518120, Peoples R China

年份：2023

卷号：277

外文期刊名：OCEAN ENGINEERING

收录：SCI-EXPANDED(收录号：WOS:000976138900001)、、EI(收录号：20231413853348)、Scopus(收录号：2-s2.0-85151501468)、WOS

基金：This work was supported by the Key Project of Department of Edu- cation of Guangdong Province [grant number 2021ZDZX1041] , the Shenzhen Science and Technology Program [grant number JCYJ20220530162014033] , and the Science and Technology Planning Project of Zhanjiang City [grant numbers 2021A05023 and 2021E05012] .

语种：英文

外文关键词：Multiple underactuated surface vessels; Predefined-timeH? formation control; Error constraint; Event-triggered; Input quantization

外文摘要：In this paper, an event-triggered predefined-time H infinity formation control strategy is proposed for multiple underactuated surface vessels (USVs) with error constraints and input quantization. A modified asymmetric barrier Lyapunov function (MABLF) is employed to constrain the tracking errors to a predefined range. Both event-triggered and input quantization are simultaneously employed to guarantee that the controller achieves satisfactory performance even with a limited network bandwidth. H infinity control is introduced to ensure that the system L2 gain is less than or equal to a given sigma, which effectively improves the robustness to the lumped disturbance. Theorem analysis shows that the proposed controller guarantees that the tracking errors of the system converge to an arbitrarily small region in a predefined time. The effectiveness of the proposed controller is confirmed by simulation examples and comparisons.