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Sampled-data consensus control of MUSV systems with channel fading and transmission delay

This paper studies sampled-data consensus control of a collection of unmanned surface vehicles (USV) operating in network environments with fading channels and time-varying transmission delay. The channel fading is modeled as each independent stochastic process whose probability distribution is known. By considering the effects of channel fading and transmission delay from sampler to the controller, a new MUSV system model is formulated in the framework of network. With the novel established model, stability analysis is given at first, then the sampled-data consensus controller is designed, which also extends to the robust control with wave-induced disturbance. The effectiveness of the presented method is demonstrated by numerical simulation.