Improved LVS guidance and path-following control for unmanned sailboat robot with the minimum triggered setting

Abstract

This paper presents a dynamic event-triggered control algorithm for the unmanned sailboat robot (USR) to carry out the waypoints-based path-following mission. The proposed scheme consists of the guidance module and control one. For the guidance module, the improved logic virtual ship (LVS) guidance law is proposed to plan the reference route for the USR considering the marine environment with time-varying wind direction. The navigation zones for USR are divided into crosswind zone and non-crosswind zone. It is beneficial for the sailboats to achieve tracking and gybe in different navigation zones. As for the control part, the dynamic event-triggered control is proposed by setting tuning threshold parameter. It is advantageous to decrease the resource waste and channel occupancy. Compared with the existing event-triggered control with static threshold parameter, the proposed algorithm is with the better performance in data transmission. The closed-loop control system has been proved to be with the semi-global uniform ultimate bounded (SGUUB) stability. Finally, the simulation experiment illustrates the superiorities of the proposed algorithm.