Adaptive Finite-Time Trajectory Tracking Event-Triggered Control Scheme for Underactuated Surface Vessels Subject to Input Saturation

• Published in: IEEE transactions on intelligent transportation systems Vol. 24; no. 8; pp. 8809 - 8819
• Main Authors: Qin, Junfeng, Du, Jialu, Li, Jian
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.08.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Adaptive systems; Backstepping; Closed loops; Complexity; Control methods; Convergence; Coordinate transformations; Disturbances; Dynamical systems; Event triggered control; Explosions; Finite time convergence; first-order command filter; Frequency control; input saturation; Robust control; Torque; Tracking control; Tracking errors; Tracking problem; Trajectory; Trajectory control; trajectory tracking control; underactuated surface vessels (USVs); Upper bounds; Vessels

In this paper, the trajectory tracking problem of underactuated surface vessels (USVs) that is subject to input saturation, unmodeled dynamics, and marine environmental disturbances is investigated. Firstly, USVs underactuation problem is handled by constructing a coordinate transformation. An auxil...