Event triggered prescribed time trajectory tracking control for unmanned surface vessels with lumped disturbances and prescribed performance constraints

Event triggered prescribed time trajectory tracking control for unmanned surface vessels with lumped disturbances and prescribed performance constraints

Blog Article

Abstract This article proposes a prescribed-time trajectory tracking control algorithm for unmanned surface vessels with lumped disturbances, limited communication, and error constraints, utilizing an event-triggered mechanism.Firstly, we present a prescribed-time lumped disturbances observer to accurately estimate the lumped disturbances, including external ocean disturbances, model uncertainties, and unmodeled dynamics.Then, a prescribed-time prescribed performance tillman 750m function is implemented to achieve guaranteed steady-state performance within a predefined time.In addition, an event-triggered strategy is embedded into the presented prescribed-time control scheme to lessen the frequency of controller signal updates and here conserve communication resources.

A thorough stability analysis demonstrates that the proposed control scheme is prescribed-time stable, and Zeno behavior can be prevented.Finally, the efficacy and superiority of the designed control strategy are confirmed with numerical simulations.