Distributed Consensus of USVs under Heterogeneous UAV-USV Multi-Agent Systems Cooperative Control Scheme

Distributed Consensus of USVs under Heterogeneous UAV-USV Multi-Agent Systems Cooperative Control Scheme

Blog Article

This paper addresses the formation motion control of heterogeneous multi-agent unmanned systems via a distributed consensus approach.The considered heterogeneous system consisted Non-Structural Heatsinks of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs).A leader-following consensus scheme and APF method are used to construct UAV-USVs Formation task requirements.A fuzzy-based sliding mode control approach is proposed to ensure the formation assembles in a finite time, and the finite-time stability is proved by the Lyapunov stability theorem.To highlight the cooperation Used Blocker within the heterogeneous systems, such as UAV and USV, a novel vision-based path re-planning approach is proposed.

Simulation results confirm the efficiency of the proposed approach.