Event-triggered adaptive command-filtered trajectory tracking control for underactuated surface vessels based on multivariate finite-time disturbance observer under actuator faults and input saturation

Abstract

This paper is aiming at enabling the underactuated surface vessels (USVs) to complete the tracking task with high precision and fast convergence under the influence of unknown external interference, dynamic uncertainty, input saturation, limited communication resources, and actuator failure. Specifically, a trajectory tracking control scheme is designed using virtual control switching, robust self-adaptation, finite-time, event-triggered, and disturbance compensation techniques. The norm calculation is performed on the lateral and longitudinal errors of the underactuated USVs, and the virtual guidance direction of the system is obtained through virtual control conversion. The hyperbolic tangent function is introduced and combined with adaptive technology to compensate the dynamic uncertainty of the system. Through the multivariate finite-time disturbance observer (MFTDO), the unknown disturbance and the bias fault factor of the system are compensated. The tracking performance of the system is further improved using the finite-time technology and combined with the event-triggered technology to reduce the update frequency of the controller signal. Using Lyapunov stability theory, a detailed stability analysis is provided for the control scheme. Finally, the effectiveness of the control design scheme is verified by simulation.