<abstract xmlns="http://www.w3.org/1999/xhtml"><p>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 sampled-data 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<sub>∞</sub> 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.</p></abstract>

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 sampled-data 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.

Consensus for Multiple Unmanned Surface Vehicle (Musv) Systems with Markov Switching Topologies

Key Laboratory of Intelligent Perception and Advanced Control State Ethnic Affairs Commission

College of Mechanical and Electronic Engineering

Polish Maritime Research

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

This paper is concerned with sampled-data leader following consensus of multiple unmanned surface vehicle (MUSV) systems with random switching network...

Consensus for Multiple Unmanned Surface Vehicle (Musv) Systems with Markov Switching Topologies

Published Online: Apr 15, 2019

Page range: 145 - 152

DOI: https://doi.org/10.2478/pomr-2019-0016

Keywords
Consensus, unmanned surface vehicle (USV), Markov process, wave-induced disturbance

© 2019 Liyuan Wang et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Consensus for Multiple Unmanned Surface Vehicle (Musv) Systems with Markov Switching Topologies

Published Online: Apr 15, 2019

Page range: 145 - 152

DOI: https://doi.org/10.2478/pomr-2019-0016

KeywordsConsensus, unmanned surface vehicle (USV), Markov process, wave-induced disturbance

© 2019 Liyuan Wang et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Keywords
Consensus, unmanned surface vehicle (USV), Markov process, wave-induced disturbance