摘要：This paper is concerned with sampled-data leader following consensus of multiple unmanned surface vehicle (MUSV) systems with random switching network topologies and wave-induced disturbance.By modelling the switching of network topologies with the use of a Markov process and considering the effect of wave-induced disturbance,a new sampleddata consensus control protocol is proposed.By employing an appropriate Lyapunov-Krosovskii function method and the weak infinitesimal operation,a novel stability criterion is derived,which ensures that the MUSV system can reach robustly leader-following consensus with H∞ performance satisfied.Based on this criterion,the Markov dependent switching consensus controller gains are obtained by solving a set of linear matrix inequalities.Finally,an illustrative example is given to verify the effectiveness of the proposed control scheme for MUSV systems.
