Formation Control for AUSVs With Input Saturation Under Event-Triggered Framework
Abstract
This work investigates distributed formation control for multiple autonomous underactuated surface vehicles (AUSVs) with input saturation under event-triggered framework. Within the leader–follower framework, the original AUSVs model is transformed into a minimum-phase nonlinear cascaded form to obtain a dynamic tracking error system. Based on this, a distributed formation control strategy is developed under an event-triggered framework by integrating backstepping and relay-switching control techniques. Stability analysis shows that the proposed formation controller enforces input saturation and renders the leader–follower tracking error uniformly ultimately bounded, with exponential decay toward a small residual set. Simulation results validate the effectiveness of the proposed algorithm.
Fields of Study & Subjects
Distributed Control Multi-Agent Systems
Stability and Control of Uncertain Systems
Adaptive Control of Nonlinear Systems
Publication details
- Journal / source
- IEEE Systems Journal
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Volume
- 20
- Issue
- 1
- Pages
- 169–180
- Publication date
- 26 February 2026