Networked Cooperative Dynamic Positioning of Multiple Unmanned Surface Vehicles

In this paper, the cooperative dynamic positioning (CDP) of multiple unmanned surface vehicles (multi-USVs) is studied in network environments. Firstly, networked cooperative dynamic positioning system (CDPS) models are constructed for multi-USVs subject to disturbance induced by wind, waves, and current. Secondly, considering the negative influences of network-induced delays, a CDP control protocol is designed. Then, by employing Lyapunov-Krasovskii approach, a controller design criterion ensuring CDP is derived such that the errors of earth-fixed position and heading between unmanned surface vehicles (USVs) and a reference state vector converge to a bounded region. Finally, the performance analysis verifies the effectiveness of the design approach presented in this paper.