Robust synchronization control of multiple vessels with communication delays

摘要

With the communication delays in the communication topology, the synchronization motion of multiple marine vessels is discussed. A novel synchronization control method that is based on distributed control strategy and graph theory is presented. The synchronization error and the trajectory tracking error of each vessel are introduced to the controller. Besides, an undirected communication topology is designed to describe the communication relations among vessels. To validate the designed controller is robust to the communication delays, constant time delays in the communication network are introduced. Finally, four marine vessels with communication delays are simulated by computer simulation tests. It is shown that the proposed control strategy can solve the synchronization of multiple vessels well.