Event-Triggered Saturation-Tolerant Control for Autonomous Underwater Vehicles With Quantitative Transient Behaviors

Abstract

This paper proposes an event-triggered saturation-tolerant solution to the problem of trajectory tracking control with application to autonomous underwater vehicles (AUVs) considering quantitative transient behaviors. To prespecify the transient tracking behaviors quantitatively and avoid the possible violation of behavioral functions induced by input saturation, a saturation quantitative prescribed performance control (SQPPC) is proposed, where auxiliary subsystems are devised to monitor the input saturation and modify the behavioral boundaries, such that SQPPC can automatically adapt to the input saturation without transgressing the exact output constraints. Intermittent measurement-based uncertainty and disturbance estimator (IMUDE) is devised to reconstruct the lumped disturbances with reduced communication resource usage. Building upon the estimation results obtained from IMUDE, an event-triggered control law is designed, attaining ultimately uniformly bounded (UUB) results, where a relative threshold-based event-triggered mechanism (RTETM) is constructed to reduce the communication resource dissipation along the controller-to-actuator channel. To validate the effectiveness of the proposed control strategy in controlling an omni directional intelligent navigator, simulation results are provided and analyzed.