Robust consensus of autonomous underactuated surface vessels

A distributed robust consensus of multiple autonomous underactuated surface vessels (AUSV) is studied in the presence of unknown environmental disturbances. The vehicles have 3 degrees of freedom and two actuators. Since the actuated and unactuated states of the vehicles are strongly coupled, first their kinematics and dynamics are transformed to a cascade non-linear system. Then, based on the properties of non-linear cascade systems, a state-based switching controller is proposed which guarantees the robust consensus of AUSVs. To illustrate the performance of the proposed consensus approach, simulation results are provided.This publication was made possible by NPRP Grant no. NPRP 5-045-2-017 from the Qatar National Research Fund (a member of Qatar Foundation). The statements made herein are solely the responsibility of the authors.Scopu

Event-triggered based consensus of autonomous underactuated surface vessels

This paper is concerned with the distributed event-triggered based consensus problem of multiple underactuated surface vessels. The considered vehicles are underactuated where the number of the vehicles actuators is less than the vehicles degrees of freedom. Moreover, information exchange among the vehicles is event-based and vehicles do not need to broadcast their information continuously. Unactuated and actuated states of considered vehicles are strongly coupled, hence a state transformation is utilized to represent the vehicle model in a cascade nonlinear system format, and consequently switching controllers are designed to make the vehicles to reach a consensus. Furthermore, agents broadcast their information based on predefined event triggering conditions and the amount of data exchange among the surface vessels is significantly decreased. To illustrate the performance of the proposed approach, simulation results are provided. 1 2017 IEEE.Scopu