文章基本信息

标题：CONSENSUS FOR MULTIPLE UNMANNED SURFACE VEHICLE (MUSV) SYSTEMS WITH MARKOV SWITCHING TOPOLOGIES
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作者：Liyuan Wang ; Liyuan Wang ; Wei Yue 等
期刊名称：Polish Maritime Research
电子版ISSN：2083-7429
出版年度：2019
卷号：26
期号：1
页码：145-152
DOI：10.2478/pomr-2019-0016
语种：English
出版社：Sciendo
摘要：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.
关键词：Consensus;unmanned surface vehicle (USV);Markov process;wave-induced disturbance