Adaptive dynamic event-triggered consensus control of multiple autonomous underwater vehicles

This paper addresses the dynamic event-triggered consensus problem of multiple autonomous underwater vehicles (AUVs) via the adaptive control method. First, due to limited bandwidth resources, an adaptive dynamic event-triggered mechanism (ADEM) with coefficients automatically adjusted according to the triggering errors is proposed to reduce the transmission burden. second, for the AUV model, an auxiliary variable is introduced to simplify the AUV system to a first-order model that is easy to analyse. Meanwhile, a novel adaptive dynamic event-triggered consensus control protocol is developed for each AUV to achieve consensus. Third, it is shown that, with the ADEM, the minimum interevent time between any two consecutive triggering instants can be prolonged to avoid the Zeno phenomenon for each AUV. Finally, the simulation results demonstrate the advantage of the proposed scheme.