Event-Driven Control Approach of Cooperative Localization-Formation Hybrid for Internet of Multi-USV

This article considers the cooperative localization and formation control problem for uncrewed surface vessels (USV) with actuator magnitude as well as rate saturation and model uncertainty. To facilitate the accuracy of the USV positioning and the robustness of formation control, a cooperative localization-formation hybrid (CLFH) framework is conceived. The finite-time back-stepping formation controller is constructed to accelerate the convergence speed of the formation for the CLFH strategy. Considering communication redundancy between controller and actuator, fixed and time-varying thresholds are designed to reduce communication frequency, resulting in communication cost savings. The unknown model and unknown time-varying disturbances are taken into consideration, adaptive fuzzy logic estimator is established to evaluate model uncertainty and external disturbances. Time-varying Lyapunov function is designed to avoid collisions between USVs. The Lyapunov theory for CLFH framework proves that the line-of-sight range error and bear angle error can converge to a tiny neighborhood near zero. The simulation experiment verify the proposed control method is valid and efficient.