Memory-Event-Triggered HFiltering of Unmanned Surface Vehicles with Communication Delays

Shen Yan, Zhou Gu, Choon Ki Ahn

Research output: Contribution to journalArticlepeer-review

22 Citations (Scopus)


This brief studies the design of a memory-event-triggered H∞ filter for unmanned surface vehicles (USVs) with communication delays. To save precious communication resources, a memory-event-triggered scheme (METS) is constructed by utilizing the mean of historical outputs. A novel united framework of the filtering error system under the METS and communication delays is established as a distributed delay system. By using the Bessel-Legendre (BL) inequality to handle the distributed delay, sufficient conditions are derived for designing H∞ filters for USVs under METS. Finally, an illustrative example is simulated to show the advantage of the presented strategy.

Original languageEnglish
Article number9319726
Pages (from-to)2463-2467
Number of pages5
JournalIEEE Transactions on Circuits and Systems II: Express Briefs
Issue number7
Publication statusPublished - 2021 Jul

Bibliographical note

Funding Information:
Manuscript received December 2, 2020; accepted January 5, 2021. Date of publication January 11, 2021; date of current version June 29, 2021. This work was supported in part by the Natural Science Foundation of Jiangsu Province of China under Grant BK20200769; in part by the Natural Science Foundation of Jiangsu Provincial Universities under Grant 20KJB510045; in part by the National Natural Science Foundation of China under Grant 61473156, Grant 52005266, and Grant 61773200; and in part by the National Research Foundation of Korea (NRF) grant funded by the Korea Government (Ministry of Science and ICT) under Grant NRF-2020R1A2C1005449. This brief was recommended by Associate Editor X. Zeng. (Corresponding authors: Zhou Gu; Choon Ki Ahn.) Shen Yan and Zhou Gu are with the College of Mechanical Electronic Engineering, Nanjing Forestry University, Nanjing 210037, China (e-mail:;

Publisher Copyright:
© 2004-2012 IEEE.


  • Hfiltering
  • Memory-event-triggered scheme
  • distributed delay
  • unmanned surface vehicles

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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