A dual-channel event-triggered unmanned surface vehicle with minimum time interval comprises a control method

Abstract

This invention discloses a dual-channel event-triggered unmanned surface vessel (USV) control method with minimum time interval, belonging to the field of USV control technology. To address the communication redundancy problem between USVs and between the controller and actuators, this invention establishes the assumptions of a dual-channel event-triggered USV control method with minimum time interval. Each USV is divided into follower and leader, and the motion dynamics equations for each USV are established. A weighted graph is constructed for the communication topology between USVs. Then, based on the definition of convex hull and the Laplace matrix, an event-triggered position observer with minimum time interval constraints is designed for each USV. An event-triggered tracking controller with minimum time interval is designed for the follower. This invention can significantly reduce the overall system requirement for expensive sensors and reduce the design and implementation costs of multi-USV systems.

Description

Technical Field

[0001] This invention belongs to the field of unmanned surface vessel (USV) control technology, specifically relating to a dual-channel event-triggered USV control method with a minimum time interval. Background Technology

[0002] With the evolution of unmanned surface vessel (USV) technology, its superior autonomous decision-making capabilities and maneuverability have led to its widespread deployment in diverse scenarios such as hydrological surveying, ecological monitoring, maritime search and rescue, coastal patrol, and waterborne logistics. In the field of multi-vessel cooperative control, inclusion control strategies are particularly crucial. The core mechanism of this strategy lies in equipping only a few vessels acting as "leaders" with high-precision obstacle avoidance sensors, while the remaining "followers" maintain their positions within the geometric convex hull (safety zone) formed by the leaders through specific control algorithms. This cooperative mode, which does not rely on a full complement of sensors, effectively avoids complete dependence on expensive sensing equipment while ensuring formation safety, significantly reducing system hardware costs. Therefore, in-depth research into inclusion control technology for multi-USV systems has extremely high engineering application value.

[0003] However, the strong nonlinearity of the unmanned surface vessel (USV) dynamics model and the external disturbances of complex marine environments (such as wind, waves, and currents) significantly increase the difficulty of controller design, making it difficult to directly transplant and effectively apply conventional control strategies to USV systems. On the other hand, constrained by the physical space of the hull, USVs have limited onboard resources and energy supply, and insufficient endurance severely restricts their efficiency in performing long-duration missions. As an effective means to address this energy consumption bottleneck, event-triggered control strategies have been widely introduced. This strategy dynamically determines the timing of communication based on preset threshold conditions, significantly reducing communication redundancy and resource consumption compared to traditional continuous communication or periodic sampling transmission. However, it is undeniable that when the USV approaches the target point (e.g., after positioning is completed), small state errors (caused by sensor noise) often induce frequent actions in traditional event-triggered mechanisms. A minimum time interval mechanism can force the system to "ignore" these high-frequency, small fluctuations. Designing an event-triggered mechanism with a minimum time interval ensures sufficient response time for the actuator, avoids high-frequency jitter, and extends the lifespan of the hardware.

[0004] Therefore, from both theoretical and practical perspectives, designing a dual-channel event-triggered unmanned surface vessel (USV) control method with minimal time intervals to accomplish complex and diverse tasks remains an urgent problem to be solved. Summary of the Invention

[0005] The present invention aims to solve the problem of communication redundancy between unmanned surface vessels (USVs) and between controllers and actuators, and proposes a dual-channel event-triggered USV control method with minimal time interval.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A dual-channel event-triggered unmanned surface vessel (USV) with minimal time interval includes a control method comprising the following steps:

[0008] S1. Construct an unmanned surface vessel (USV) with a minimum time interval and dual-channel event triggering, including the assumptions of the control method, divide each USV into follower and leader, and establish the motion dynamics equations of each USV;

[0009] S2. For the follower set and leader set of the unmanned surface vessel obtained in step S1, construct a weighted graph for the communication topology between unmanned surface vessels. Then, based on the definition of convex hull and Laplace matrix, design an event-triggered position observer with minimum time interval constraint for each unmanned surface vessel.

[0010] S3. Based on the event-triggered position observer with minimum time interval constraint obtained in step S2, design an event-triggered tracking controller with minimum time interval for the follower.

[0011] Furthermore, the specific implementation method of step S1 includes the following steps:

[0012] S1.1. Constructing an unmanned surface vessel (USV) with a minimum time interval and dual-channel event triggering includes the following assumptions for the control method: the velocity and acceleration of each USV are bounded, external disturbances are bounded; the inertial matrix, Coriolis matrix, and hydrodynamic damping matrix of each USV are bounded, and the rotation matrix of each USV is bounded; for any USV, there exists at least one USV with a path to it.

[0013] S1.2. Divide each unmanned surface vessel into followers and leaders. O F Let i be the set of followers, where i is O. F Any one of them, j is O L Any one of them, O L For the leaders to gather;

[0014] S1.3. Establish the kinematic equations for each unmanned surface vessel (USV), and after processing them using a rotation matrix, based on the fact that the USV system's velocity and external disturbances are bounded, we obtain:

[0015] ,

[0016] in, Indicates the first The external disturbance vector experienced by an unmanned surface vessel. Let the Coriolis matrix of the i-th unmanned surface vessel be represented. Indicates the first The reference velocity vector of the unmanned surface vessel. Let i represent the hydrodynamic damping matrix of the i-th follower. Indicates the first The position derivative of an unmanned surface vessel. Let be the inertial matrix of the i-th unmanned surface vessel. for The derivative, Let be an unknown but bounded parameter vector. The given bounded regression matrix.

[0017] Furthermore, the specific implementation method of step S2 includes the following steps:

[0018] S2.1. Based on the follower set and leader set obtained in step S1, construct a weighted graph for the inter-unmanned surface vessel communication topology. The expression is:

[0019]

[0020] in, Represents all members in the system. Let be the set of all edges. n is the total number of followers. For the weighted connectivity matrix, , For nodes To the node The connection weights.

[0021] if ,but ,otherwise Then define the Laplace matrix. ;if , ; , The first of the Laplace matrix Line number Column elements, The first connection matrix Line number Column elements;

[0022]

[0023] in, For each follower, there is a corresponding Laplace submatrix. . For each follower, there is a corresponding Laplace submatrix. ;

[0024] S2.2. The observer is designed based on the definition of convex hull as follows:

[0025]

[0026] in, For the first The update law of a follower observer For the positive constant observer gain, For the first The target location is observed by a follower. For the first The target location observed by each follower For the first The trigger time of the kth follower;

[0027] Then the observation error of the observer is calculated as follows:

[0028]

[0029] in, Let be the observation error vector for all followers. For the estimated position vectors of all followers, for The inverse matrix, for With the three-dimensional unit matrix Kronecker product, for With the three-realm unit matrix Kronecker product, A vector representing all leader positions;

[0030] S2.3. Define the class timer system The expression is:

[0031]

[0032] in, For timer system state The renewal law, For switching functions, For the initial value of the timer system, For time, , , These are the first, second, and third positive real numbers to be defined; if , ;if , ;

[0033] S2.4. Define the measurement error of the observer's estimated position as... , Then, a trigger function is designed based on the measurement error. ,get:

[0034]

[0035] in, Design parameters for positive constants. For positive constant gain parameters, For the first The local inclusion error of a follower ;

[0036] Based on the design of a minimum time interval event triggering mechanism using a trigger function, we obtain:

[0037]

[0038] in, For the first A follower's class timer function, For the indeterminate boundary, For logical AND.

[0039] Furthermore, the specific implementation method of step S3 includes the following steps:

[0040] S3.1. Based on the event triggering mechanism with minimum time interval obtained in step S2, design an event triggering tracking controller with minimum time interval, the expression of which is:

[0041]

[0042] in, For event-triggered feedback tracking control input, for Time of the first A follower's sliding surface for Estimation of the unknown but bounded parameter vector in a system at any given time. For Kronecker product, It is a third-order identity matrix.

[0043] Then the measurement error of the sliding surface is defined as: , ; Measurement error for parameter estimation;

[0044] S3.2. Design an event-triggered tracking controller with a minimum time interval, resulting in:

[0045]

[0046] in, For the first The first follower Next trigger time It is a trigger function. A timer was designed to address measurement errors on the sliding surface. A timer class designed to address measurement errors in parameter estimation;

[0047]

[0048] in, Design parameters for positive constants.

[0049] The beneficial effects of this invention are:

[0050] The present invention discloses a dual-channel event-triggered unmanned surface vessel (USV) control method with minimum time interval. For a multi-USV system, some USVs equipped with obstacle detection and other sensors are selected as leaders, and the remaining USVs are as followers. The control algorithm is used to make the followers converge into the safe area constructed by the leaders, thereby significantly reducing the overall system requirements for expensive sensors and reducing the design and implementation costs of the multi-USV system.

[0051] This invention discloses a dual-channel event-triggered unmanned surface vessel (USV) control method with minimum time interval, which designs a dual-channel event triggering mechanism with minimum time interval. First, an event triggering mechanism with minimum time interval constraints is designed in the observer channel. Each USV's observer collects the leader's position information and the observer information of other USVs to obtain its desired position information within the included formation, thereby achieving the included control objective. This process involves observer information interaction between USVs, and such information consumes significant USV communication resources during propagation. Under the event triggering mechanism proposed in this invention, observer information between USVs is transmitted only when preset event triggering conditions are met and the minimum time interval constraint is satisfied, effectively reducing the update and propagation frequency of observer information and thus reducing the communication resource consumption of the multi-USV system. For the communication link between USVs, the introduction of a minimum time interval constraint in the event triggering mechanism effectively suppresses high-frequency transmission of observer information between USVs, avoiding dense communication triggers caused by state jitter or instantaneous disturbances, thereby reducing the occupancy rate of the inter-USV communication link. By setting a lower time limit for two adjacent communication events, wireless communication conflicts and data congestion can be reduced while ensuring control performance, thereby improving the stability and reliability of inter-vessel communication and ultimately enhancing the overall operational efficiency of multi-unmanned surface vessel systems under complex sea conditions and limited communication resources.

[0052] This invention discloses a dual-channel event-triggered unmanned surface vessel (USV) with a minimum time interval, comprising a control method. For the communication channel between the controller and actuator, a minimum time interval constraint is introduced into the event-triggered control strategy. This effectively avoids high-frequency updates and transmissions of control commands, preventing frequent changes in control input caused by system state fluctuations or external disturbances, thereby reducing the occupancy rate of the communication link between the controller and actuator. By setting a lower time limit for two adjacent control command updates, the switching frequency and energy consumption on the actuator side can be reduced while ensuring system stability and control performance. This alleviates actuator wear and the computational burden on the controller, improving the stability, reliability, and engineering feasibility of the USV control system.

[0053] This invention presents a dual-channel event-triggered unmanned surface vessel (USV) inclusion control method with minimal time interval. Addressing the issue of unsatisfactory control performance caused by the nonlinear characteristics of USV systems using traditional control methods, this invention combines sliding mode control and model-free control to construct a tracking controller. This allows the controller design to be independent of the complete dynamic model information of the USV, thereby reducing the reliance on precise modeling. Simultaneously, the combination of sliding mode control and model-free control effectively enhances the system's robustness to parameter uncertainties and external disturbances. Even in the presence of external disturbances and with partially unknown model information, the controller can still achieve the inclusion control objective. Simulation analysis verifies that the inclusion control method proposed in this invention maintains good closed-loop control performance under conditions of external disturbances and incomplete model knowledge. Attached Figure Description

[0054] Figure 1 Communication topology diagram of a multi-unmanned surface vessel system;

[0055] Figure 2 The system includes a control trajectory map for multiple unmanned surface vessels (USVs);

[0056] Figure 3 This is a graph showing the observation error.

[0057] Figure 4 A diagram showing the triggering moment and triggering interval of Follower 1 observer;

[0058] Figure 5 The triggering moments and intervals for observers 2 and 3 are shown in the diagram.

[0059] Figure 6 A diagram showing the triggering moments and intervals of observers 4 and 5;

[0060] Figure 7 A graph showing the error between the follower's position and the expected position observed by the observer;

[0061] Figure 8A graph showing the change in the control torque of the followers over time;

[0062] Figure 9 For adaptive parameters Graph showing changes over time;

[0063] Figure 10 A diagram showing the trigger moment and trigger interval between the controller and actuator of Follower 1;

[0064] Figure 11 The diagram shows the trigger moments and trigger intervals between the controllers and actuators of followers 2 and 3.

[0065] Figure 12 The diagram shows the trigger moments and trigger intervals between the controllers and actuators of followers 4 and 5. Detailed Implementation

[0066] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and are not intended to limit the invention; that is, the described specific embodiments are merely a part of the embodiments of the invention, and not all of them. The components of the specific embodiments of the invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations, and the invention may also have other embodiments.

[0067] Therefore, the following detailed description of specific embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected specific embodiments of the invention. All other specific embodiments obtained by those skilled in the art based on these specific embodiments without inventive effort are within the scope of protection of this invention.

[0068] To further understand the invention's content, features, and effects, the following specific embodiments are provided, along with accompanying drawings. Figure 1 - Appendix Figure 12 Detailed explanation is as follows:

[0069] Example 1:

[0070] A dual-channel event-triggered unmanned surface vessel (USV) with minimal time interval includes a control method comprising the following steps:

[0071] S1. Construct an unmanned surface vessel (USV) with a minimum time interval and dual-channel event triggering, including the assumptions of the control method, divide each USV into follower and leader, and establish the motion dynamics equations of each USV;

[0072] Furthermore, the specific implementation method of step S1 includes the following steps:

[0073] S1.1. Constructing an unmanned surface vessel (USV) with a minimum time interval and dual-channel event triggering includes the following assumptions for the control method: the velocity and acceleration of each USV are bounded, external disturbances are bounded; the inertial matrix, Coriolis matrix, and hydrodynamic damping matrix of each USV are bounded, and the rotation matrix of each USV is bounded; for any USV, there exists at least one USV with a path to it.

[0074] Furthermore, the following assumptions are made: the velocity and acceleration of each unmanned surface vessel are bounded, and external disturbances are also bounded; , , All are bounded, satisfying , , ,in , , , All are unknown positive numbers; , Their respective derivatives are bounded, i.e. , ,in , For any unmanned surface vessel (USV), there exists at least one USV that has a path to it.

[0075] S1.2. Divide each unmanned surface vessel into followers and leaders. O F Let i be the set of followers, where i is O. F Any one of them, j is O L Any one of them, O L For the leaders to gather;

[0076] Furthermore, , To gather for followers ; , For the leaders to gather, ;

[0077] S1.3. Establish the kinematic equations for each unmanned surface vessel (USV), and after processing them using a rotation matrix, based on the fact that the USV system's velocity and external disturbances are bounded, we obtain:

[0078] ,

[0079] in, Indicates the first The external disturbance vector experienced by an unmanned surface vessel. Let the Coriolis matrix of the i-th unmanned surface vessel be represented. Indicates the first The reference velocity vector of the unmanned surface vessel. Let i represent the hydrodynamic damping matrix of the i-th follower. Indicates the first The position derivative of an unmanned surface vessel. Let be the inertial matrix of the i-th unmanned surface vessel. for The derivative, Let be an unknown but bounded parameter vector. The given bounded regression matrix.

[0080] Furthermore, the specific implementation method of step S1.3 includes the following steps:

[0081] Establish the kinematic equations for the i-th unmanned surface vessel in the system:

[0082]

[0083] in, It is defined according to the Earth coordinate system, in which Represents the position vector of the i-th unmanned surface vessel. Represents the heading angle of the i-th unmanned surface vessel; These are defined based on the body coordinate system of the unmanned surface vessel (USV), and represent the forward velocity, lateral velocity, and bow angular velocity of the i-th USV, respectively. It is an inertia matrix; and These represent the Coriolis matrix and the hydrodynamic damping matrix, respectively. It's external interference. This represents the control torque of the i-th unmanned surface vessel; This represents the rotation matrix.

[0084] Specific , , , The definition is as follows:

[0085] , ,

[0086] , ;

[0087] Then, the i-th unmanned surface vessel model is processed into the following form using a rotation matrix:

[0088]

[0089] in, ;

[0090] , , and Defined as follows:

[0091] ;

[0092] in, , They are ;

[0093] Then, based on the fact that the speed of the unmanned surface vessel system and external interference are both bounded, we conclude that:

[0094]

[0095] in, , , is a positive constant. , ;

[0096] S2. For the follower set and leader set of the unmanned surface vessel obtained in step S1, construct a weighted graph for the communication topology between unmanned surface vessels. Then, based on the definition of convex hull and Laplace matrix, design an event-triggered position observer with minimum time interval constraint for each unmanned surface vessel.

[0097] Furthermore, the specific implementation method of step S2 includes the following steps:

[0098] S2.1. Based on the follower set and leader set obtained in step S1, construct a weighted graph for the inter-unmanned surface vessel communication topology. The expression is:

[0099]

[0100] in, Represents all members in the system. Let be the set of all edges. n is the total number of followers. For the weighted connectivity matrix, , For nodes To the node The connection weights. If ,but ,otherwise Then define the Laplace matrix. ;if , ; , The first of the Laplace matrix Line number Column elements, The first connection matrix Line number Column elements.

[0101]

[0102] in, For each follower, there is a corresponding Laplace submatrix. . For each follower, there is a corresponding Laplace submatrix. ;

[0103] S2.2. The observer is designed based on the definition of convex hull as follows:

[0104]

[0105] in, For the first The update law of a follower observer For the positive constant observer gain, For the first The target location is observed by a follower. For the first The target location observed by each follower For the first The trigger time of the kth follower;

[0106] Then the observation error of the observer is calculated as follows:

[0107]

[0108] in, Let be the observation error vector for all followers. For the estimated position vectors of all followers, for The inverse matrix, for With the three-realm unit matrix Kronecker product, for With the three-realm unit matrix Kronecker product, A vector representing all leader positions;

[0109] S2.3. Define the class timer system The expression is:

[0110]

[0111] in, For timer system state The renewal law, For switching functions, For the initial value of the timer system, For time, , , These are the first, second, and third positive real numbers to be defined; if , ;if , ;

[0112] S2.4. Define the measurement error of the observer's estimated position as... , Then, a trigger function is designed based on the measurement error. ,get:

[0113]

[0114] in, Design parameters for positive constants. For positive constant gain parameters, For the first The local inclusion error of a follower ;

[0115] Based on the design of a minimum time interval event triggering mechanism using a trigger function, we obtain:

[0116]

[0117] in, For the first A follower's class timer function, For the indeterminate boundary, For logical AND.

[0118] S3. Based on the event-triggered position observer with minimum time interval constraint obtained in step S2, design an event-triggered tracking controller with minimum time interval for the follower.

[0119] Furthermore, the specific implementation method of step S3 includes the following steps:

[0120] S3.1. Based on the event triggering mechanism with minimum time interval obtained in step S2, design an event triggering tracking controller with minimum time interval, the expression of which is:

[0121]

[0122] in, For event-triggered feedback tracking control input, for Time of the first A follower's sliding surface for Estimation of the unknown but bounded parameter vector in a system at any given time. For Kronecker product, It is a third-order identity matrix.

[0123] Define the measurement error of the sliding surface as: , ; Measurement error for parameter estimation;

[0124] S3.2. Design an event-triggered tracking controller with a minimum time interval, resulting in:

[0125]

[0126] in, For the first The first follower Next trigger time It is a trigger function. A timer was designed to address measurement errors on the sliding surface. A timer class designed to address measurement errors in parameter estimation;

[0127]

[0128] in, The parameters are designed for positive constants. Based on the distributed inclusion control law and event triggering mechanism of each follower, each follower can reach the convex hull formed by the leader, and the information transmission between the controller and actuator of each follower has the minimum event interval, thus completing the inclusion control of the unmanned surface vessel with event triggering with the minimum event interval.

[0129] Example 2:

[0130] Based on Example 1, this embodiment provides the following proof regarding the event triggering of an unmanned surface vessel with a minimum time interval constraint, including a position observer:

[0131] First, define an intermediate variable to facilitate the proof:

[0132] ;

[0133] Then, according to the definition of the Laplace matrix, we can obtain:

[0134] ;

[0135] in, for The stack of columns. Combining this with the definition of observation error, we can obtain:

[0136] ;

[0137] Choose the following Lyapunov function:

[0138] ;

[0139] Then, by differentiation, we can obtain:

[0140] ;

[0141] Substituting the observer formula, we get:

[0142] ;

[0143] intermediate variables Substituting, we get:

[0144] ;

[0145] because , Combining this with Young's inequality, we can obtain:

[0146] ;

[0147] in, Then we can get:

[0148] ;

[0149] Then, by continuing to use Young's inequality, we can obtain:

[0150] ;

[0151] in, Then we can get:

[0152] ;

[0153] Scenario 1: Then, the order is:

[0154] ;

[0155] We can obtain:

[0156] ;

[0157] in, Then we can obtain:

[0158] ;

[0159] Therefore, we can conclude that... It is consistent and ultimately bounded.

[0160] Scenario 2: We can obtain:

[0161] ;

[0162] Then, combining the triggering function and the event triggering mechanism, the above formula can be further derived as follows:

[0163] ;

[0164] in, Then we can get:

[0165] ;

[0166] Still available The conclusion is that the event-triggered position observer with minimum time interval constraints can be proven effective through rigorous theoretical derivation.

[0167] Example 3:

[0168] Based on Example 1, this embodiment demonstrates the inclusion control of the minimum event interval triggering for all followers as follows:

[0169] Choose the following Lyapunov function:

[0170] ;

[0171] in, yes The column stack vector, , yes Measurement error; for Differentiation yields:

[0172] ;

[0173] Substituting this into the control law, we get:

[0174] ;

[0175] Substituting the second formula for measurement error into the equation, we get:

[0176] ;

[0177] Next:

[0178] ;

[0179] According to Young's inequality, we can conclude that:

[0180] ;

[0181] Then, by substituting the formula, we can obtain:

[0182] ;

[0183] right Taking the derivative and substituting the definition of convex hull, we get:

[0184] ;

[0185] Next by From Young's inequality, we can obtain:

[0186] ;

[0187] Then, the calculation is further performed as follows:

[0188] ;

[0189] As can be seen from the assumptions... , There are upper limits, defined as follows: , After that, Differentiation yields:

[0190] ;

[0191] Based on the equation of motion of the unmanned surface vessel Differentiation yields:

[0192] ;

[0193] Scenario 1: , ,definition , ,but The following derivation can be obtained:

[0194] ;

[0195] in , .

[0196] , .

[0197] Scenario 2: , ,or , ,or , From the event triggering mechanism, it can be concluded that in this case... This will determine whether the event is triggered. Therefore This is always true, and combined with the event triggering mechanism of minimum time interval, we can conclude that:

[0198] ;

[0199] Therefore, in either case... This is always satisfied, meaning that the unmanned surface vessel's control errors are consistently and eventually bounded. Furthermore, based on the observation errors, the minimum event interval between two triggers can be calculated as follows:

[0200]

[0201] in, .

[0202] Example 4:

[0203] This embodiment uses numerical simulation results to illustrate the feasibility and effectiveness of the proposed dual-channel event-triggered unmanned surface vessel (USV) control method with minimum time interval. The USV parameters are: , , , , The unit is kg. The relevant parameters of the controller are: , , , .

[0204] Figure 1 This is a communication topology diagram for a multi-unmanned surface vessel system. Figure 2-8 Simulation results:

[0205] Figure 2 The control trajectory map for the multi-unmanned surface vessel system shows that the followers have converged into the convex hull formed by the leader and can maintain this formation.

[0206] Figure 3The observation error plot shows that the observation error quickly converges to near zero. This indicates that the designed minimum time interval position observer can effectively observe the desired position information of the follower.

[0207] Figure 4 Figures 5 and 6 show the triggering moment and triggering interval of the follower observer. The figures show that there is a minimum time interval between event triggering events, and this interval can be calculated. This effectively reduces the communication frequency without affecting control performance.

[0208] Figure 7 The error between the follower's position and the expected position observed by the observer is defined as follows: when the error converges to the region near zero, it indicates that the follower's position has been controlled within the convex hull formed by the leader.

[0209] Figure 8 The graph shows the change in the control torque of the followers over time.

[0210] Figure 9 For adaptive parameters A graph showing the changes over time.

[0211] Figure 10 Figures 11 and 12 show the trigger moments and intervals between the controllers and actuators of the followers. The figures show that there is a minimum time interval between event triggers, and this interval can be calculated. This effectively reduces the communication frequency without affecting control performance.

[0212] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0213] Although this application has been described above with reference to specific embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of this application. In particular, as long as there is no structural conflict, the features in the specific embodiments disclosed in this application can be combined with each other in any way. The lack of an exhaustive description of these combinations in this specification is merely for the sake of brevity and resource conservation. Therefore, this application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A dual-channel event-triggered unmanned surface vessel with a minimum time interval, comprising a control method, characterized in that, Includes the following steps: S1. Construct an unmanned surface vessel (USV) with a minimum time interval and dual-channel event triggering, including the assumptions of the control method, divide each USV into follower and leader, and establish the motion dynamics equations of each USV; S2. For the follower set and leader set of the unmanned surface vessel obtained in step S1, construct a weighted graph for the communication topology between unmanned surface vessels. Then, based on the definition of convex hull and Laplace matrix, design an event-triggered position observer with minimum time interval constraint for each unmanned surface vessel. S3. Based on the event-triggered position observer with minimum time interval constraint obtained in step S2, design an event-triggered tracking controller with minimum time interval for the follower.

2. The dual-channel event-triggered unmanned surface vessel with minimum time interval as described in claim 1, characterized in that, The specific implementation method of step S1 includes the following steps: S1.

1. Constructing an unmanned surface vessel (USV) with a minimum time interval and dual-channel event triggering includes the following assumptions for the control method: the velocity and acceleration of each USV are bounded, external disturbances are bounded; the inertial matrix, Coriolis matrix, and hydrodynamic damping matrix of each USV are bounded, and the rotation matrix of each USV is bounded; for any USV, there exists at least one USV with a path to it. S1.

2. Divide each unmanned surface vessel into followers and leaders. O F Let i be the set of followers, where i is O. F Any one of them, j is O L Any one of them, O L For the leaders to gather; S1.

3. Establish the kinematic equations for each unmanned surface vessel (USV), and after processing them using a rotation matrix, based on the fact that the USV system's velocity and external disturbances are bounded, we obtain: ， in, Indicates the first The external disturbance vector experienced by an unmanned surface vessel. Let the Coriolis matrix of the i-th unmanned surface vessel be represented. Indicates the first The reference velocity vector of the unmanned surface vessel. Let i represent the hydrodynamic damping matrix of the i-th follower. Indicates the first The position derivative of an unmanned surface vessel. Let be the inertial matrix of the i-th unmanned surface vessel. for The derivative of Let the parameter vector be unknown but bounded. The given bounded regression matrix.

3. The dual-channel event-triggered unmanned surface vessel with minimum time interval as described in claim 2, characterized in that, The specific implementation method of step S2 includes the following steps: S2.

1. Based on the follower set and leader set obtained in step S1, construct a weighted graph for the inter-unmanned surface vessel communication topology. The expression is: in, Represents all members in the system. Let be the set of all edges. n is the total number of followers. For a weighted connectivity matrix, , For nodes To the node The connection weights. If ,but ,otherwise Then define the Laplace matrix. ;if , ; , The first of the Laplace matrix Line number Column elements, For the first connection matrix Line number Column elements. in, For each follower, there is a corresponding Laplace submatrix. . For each follower, there is a corresponding Laplace submatrix. ; S2.

2. The observer is designed based on the definition of convex hull as follows: in, For the first The update law of a follower observer For the positive constant observer gain, For the first The target location is observed by a follower. For the first The target location observed by each follower For the first The trigger time of the kth follower; Then the observation error of the observer is calculated as follows: in, Let be the observation error vector for all followers. For the estimated position vectors of all followers, for The inverse matrix, for With the three-realm unit matrix Kronecker product, for With the three-realm unit matrix Kronecker product, A vector representing all leader positions; S2.

3. Define the class timer system The expression is: in, For timer system state The renewal law, For switching functions, For the initial value of the timer system, For time, , , These are the first, second, and third positive real numbers to be defined; if , ;if , ; S2.

4. Define the measurement error of the observer's estimated position as... , Then, a trigger function is designed based on the measurement error. ,get: in, Design parameters for positive constants. For positive constant gain parameters, For the first The local inclusion error of a follower ; Based on the design of a minimum time interval event triggering mechanism using a trigger function, we obtain: in, For the first A follower's class timer function, For the indeterminate boundary, For logical AND.

4. The dual-channel event-triggered unmanned surface vessel with minimum time interval as described in claim 3, characterized in that, The specific implementation method of step S3 includes the following steps: S3.

1. Based on the event triggering mechanism with minimum time interval obtained in step S2, design an event triggering tracking controller with minimum time interval, the expression of which is: in, For event-triggered feedback tracking control input, for Time of the first A follower's sliding surface for Estimation of the unknown but bounded parameter vector in a system at any given time. For Kronecker product, It is a third-order identity matrix. Then the measurement error of the sliding surface is defined as: , ; Measurement error for parameter estimation; S3.

2. Design an event-triggered tracking controller with a minimum time interval, resulting in: in, For the first The first follower Next trigger time It is a trigger function. A timer was designed to address measurement errors on the sliding surface. A timer class designed to address measurement errors in parameter estimation; in, Design parameters for positive constants.

Images