Minimum-learning-parameter-based adaptive finite-time trajectory tracking event-triggered control for underactuated surface vessels with parametric uncertainties

Abstract

For the problem of trajectory tracking control of underactuated surface vessels (USVs) affected by input saturation, parametric uncertainties, time-varying marine environmental disturbances, and limited transmission resources, a robust adaptive finite-time event-triggered control scheme is presented in this paper. First, a coordinate transformation is constructed to tackle the underactuation problem of the USV and enables the USV control law to be devised in vector form, which simplifies the design and makes it more suitable for computer processing. A continuous auxiliary dynamic system is constructed to handle the input saturation problem. The minimum learning parameter (MLP) technique is used to approximate the parametric uncertainties of the model. An adaptive law is devised to update online the upper bound of the combination of external disturbances and the approximation error generated by the MLP. Additionally, a finite-time control scheme is presented by introducing a robustifying term in the virtual control law, which improves the control performance; an introduced event triggering mechanism in the channel from the controller to the actuator decreases both the transmission burden and the control execution frequency without affecting the control performance. The theoretical analysis reveals that the devised robust adaptive finite-time event-triggered control scheme enables the USVs to track the desired trajectory in a finite time with a small number of control executions, while ensuring the closed-loop stability of the system and avoiding Zeno behavior. The simulations verify the effectiveness and the superiority of the presented control scheme.