- Tytuł:
- Consensus for multiple unmanned surface vehicle (MUSV) systems with Markov switching topologies
- Autorzy:
-
Wang, Liyuan
Yue, Wei
Zhang, Rubo - Powiązania:
- https://bibliotekanauki.pl/articles/259744.pdf
- Data publikacji:
- 2019
- Wydawca:
- Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
- Tematy:
-
consensus
unmanned surface vehicle (USV)
Markov process
wave-induced disturbance - Opis:
- 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.
- Źródło:
-
Polish Maritime Research; 2019, 1; 145-152
1233-2585 - Pojawia się w:
- Polish Maritime Research
- Dostawca treści:
- Biblioteka Nauki
Artykuł