Event-triggered joint connectivity topology containment control for unmanned surface ship systems under time delay

Abstract

For the containment control problem of unmanned surface ship systems (USSs) with time delay and limited communication bandwidth, this paper proposes a distributed event-triggered control strategy using a joint connection switching topology. The communication of unmanned surface ship systems inevitably has delay and the topology is time-varying. Firstly, a joint connectivity switching topology model and the state control method of USSs with delay are designed. Secondly, an event-triggered control mechanism is established, and a new trigger condition of USSs communication is designed. In case of time delay, the USS updates its information and sends it to its neighboring USSs under time delay, minimizes communication consumption and saves energy, and rapidly converges to the steady state. Based on the Lyapunov method, the stability of the system is analyzed, and the Zeno behavior when event-triggered is excluded. It is proved that under the designed control strategy, if the communication topology is jointly connected in a certain time, the follower USS can converge to the convex hull formed by multiple leader USS within a certain delay range. Finally, the correctness and validity of the conclusions are verified by simulation.

Keywords

• unmanned surface ship systems (usss)
• event-triggered
• time delay
• jointly connection
• switching topology
• containment control