Distributed Containment Control of Autonomous Surface Vehicles Based on Topology-dependent Average Dwell Time

摘要

This paper investigates the distributed containment control of autonomous surface vehicles with switching communication topologies. In particular, the topology-dependent average dwell time is adopted for the topology switches. Based on model transformation, sufficient containment conditions are established by applying the multiple Lyapunov function method and the corresponding distributed controllers are designed. Finally, an illustrative example is provided to validate the effectiveness of the proposed method.