Control Barrier Performance Function-Based Cooperative Formation With Parallel Dynamic Event-Triggering Strategy

This article investigates the control barrier performance function (CBPF)-based event-triggered cooperative formation control of underactuated unmanned surface vehicles (USVs) under the consideration of input saturation. Compared with the cooperative formation commonly studied in existing literature, three distinct features of the present work are: 1) the conflict between consensus performance-related constraint and the control capability limitation gets balanced based on CBPF-based control; 2) the CBPF-based path updating alleviates the negative cooperative coupling for performance constraint maintenance; and 3) the parallel dynamic event-triggering (PDET) mechanism under the nonrecursive design framework reduces the update frequency of the controllers by adjusting the triggering threshold and gain in parallel. Numerical simulations are provided to verify the validity of the obtained theoretical results.