Topology Design for Multiple Unmanned Surface Vessels Cooperative Control in Polymorphic Networks

With the development of the Marine power and the increasingly complex tasks and working environments of offshore operations, In view of the limitations of the cooperative control of a single multi-unmanned surface vessels system in a unilateral communication network, In this paper, a communication topology reconstruction method for the cooperative control of multiple multi-unmanned surface vessels systems in polymorphic network is studied. Firstly, a multi-lateral distributed cooperative control system framework for multiple multi-unmanned surface vessels is constructed based on a multi-agent system in polymorphic network. Secondly, for the formation of multiple multi-unmanned surface vessels that perform different tasks after networking, a communication topology reconstruction method is proposed, and a distributed control protocol is designed based on the external equitable partition to achieve multi-consensus. Finally, a simulation example is given to verify the effectiveness of the proposed method.