Abstract: For heterogeneous unmanned multi-agent systems composed of multiple unmanned surface vessels (USV), the distributed prescribed-time formation control problem is studied under asymmetric output constraints and communication transmission limitations based on adaptive dynamic event-triggered mechanism. Firstly, within the framework of the designed formation control algorithm, the underactuated heterogeneous USV is equivalently transformed into a second-order fully actuated system by using position coordinate transformation. Secondly, based on the proposed prescribed-time function, an obstacle Lyapunov function is constructed by the backstepping method and a distributed cooperative controller with asymmetric output constraints is designed. Then, to reduce the communication burden during complex sea operations, an adaptive dynamic event-triggered mechanism based on prescribed time is proposed, and the Zeno phenomenon is analyzed. Next, a Lyapunov function is constructed to prove the convergence of the formation error of the heterogeneous unmanned vessel system. Finally, two sets of simulation results show that the proposed method can achieve the prescribed-time formation control goal while reducing data communication transmission and constraining the system output position.

Key words: heterogeneous multi-USVs, event triggered, output constraint, prescribed-time, formation control

摘要： 针对由多艘不同水面无人艇构成的异构无人多智能体系统，研究了在非对称输出约束和通信传输受限下，基于自适应动态事件触发的分布式预定时间编队控制问题。在所设计编队控制算法的框架下，使用位置坐标变换将欠驱动的异构无人艇系统等价转换为二阶全驱动系统。基于所提出的预定时间函数，通过反步法构造障碍李雅普诺夫函数并设计了具有非对称输出约束的分布式协同控制器。为减轻复杂海域作业时的通信负担，提出了一种基于预定时间的自适应动态事件触发机制，同时分析了芝诺现象。构造李雅普诺夫函数证明了异构无人艇系统编队误差的收敛性。两组仿真结果表明，所提方法在实现预定时间编队控制目标的同时，既能减少数据通信传输，又能约束系统输出位置。

关键词: 异构多无人艇, 事件触发, 输出受限, 预定时间, 编队控制