Vehicle Control on an Instrumented Surface With an Off the Shelf Smart watch

This paper presents a consensus control protocol for small unmanned surface vehicle (USV) based on event-triggered control communication. The motion and force of USV are analyzed without considering the non-linear interference, and a second-order mathematical model of multi-USVs is established. A control protocol for USV systems is designed by considering the error between location and speed information of USV neighbors and their own state information. Event-triggered protocol based on location and speed information of USV neighbors is also designed. The proof that Zeno behavior does not occur in USV systems with event-triggered control algorithm is given. Numerical simulations are conducted to verify the effectiveness of the proposed control strategy.