Patent ID: 11921505
Assignee: WUHAN UNIVERSITY OF TECHNOLOGY
Field: Control (Instruments)
Classification: CPC G  B  H | IPC B  G  H

Claim 5:
6. The method according to claim 1, wherein a final analysis model is obtained by, {
  
   
    
     
      
       
        
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   ,, x(k) representing an initial state of the unmanned surface vehicle; and the described event-triggered scheme is determined by eT(k)We (k)≤σxT(k−d(k))Wx(k−d(k)), n=0, 1, . . . , nk, nk=kt+1−kt−1, kt and kt+1 representing the current trigger time and the next trigger time, τkt+n and τkt+1+n+1 representing delay of the current trigger time and delay of the next trigger time, e(k) representing a difference value between the current sampling signal and the last trigger signal, x(k−d(k)) representing a state of the last trigger time, σ being a trigger parameter, W being the weight matrix of the event-triggered mechanism, and d(k) representing communication delay of the system.