Abstract
This paper aims to investigate a low-complexity tracking control method for autonomous underwater helicopters (AUH), which is devoid of nonlinear approximation strategies, ensuring good efficiency and keeping a high accuracy in environmental disturbances and modeling uncertainty. The Nussbaum function and shifting function are introduced to solve the problem of unknown control direction and initial condition of system error, respectively. Besides, to reduce the controller's update rate and the thruster's mechanical loss, an incremental event-triggered control mechanism with two thresholds is added to the algorithm. Finally, the simulations on AUHs show the effectiveness of the proposed scheme.
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