Network-Based Multiple Operating Points Cooperative Dynamic Positioning of Unmanned Surface Vehicles

This article investigates the network-based multiple operating points cooperative dynamic positioning of multiple unmanned surface vehicles. First, a dynamic positioning system model is established for multiple unmanned surface vehicles. Second, a network-based multiple operating points cooperative dynamic positioning control protocol and a resultant system model for multiple unmanned surface vehicles are constructed under fixed topologies. Third, a networked multiple operating points cooperative dynamic positioning control scheme, which can guarantee the multiple operating points cooperative dynamic positioning error exponentially converge to a bounded region, is proposed. The dynamic positioning control scheme design is then extended to the case of switching topologies. Finally, the multiple operating points cooperative dynamic positioning performance analysis verifies the efficiency of the proposed control schemes.