文献类型：期刊文献

英文题名：Practical Finite-Time Event-Triggered Trajectory Tracking Control for Underactuated Surface Vessels With Error Constraints

作者：Liu, Haitao[1,2];Li, Yongzhuo[1];Tian, Xuehong[1,2]

机构：[1]Guangdong Ocean Univ, Sch Mech & Power Engn, Zhanjiang 524088, Peoples R China;[2]Guangdong Ocean Univ, Shenzhen Inst, Shenzhen 518120, Peoples R China

年份：2022

卷号：10

起止页码：43787

外文期刊名：IEEE ACCESS

收录：SCI-EXPANDED(收录号：WOS:000788983200001)、、EI(收录号：20221812062151)、Scopus(收录号：2-s2.0-85129175838)、WOS

基金：This work was supported in part by the 2019 "Chong First-Class'' Provincial Financial Special Funds Construction Project under Grant 231419019, in part by the Key Project of Department of Education of Guangdong Province under Grant 2021ZDZX1041, and in part by the Science and Technology Planning Project of Zhanjiang City under Grant 2020B01267 and Grant 2021E05012.

语种：英文

外文关键词：Trajectory tracking; Control systems; Convergence; Sea surface; Actuators; Explosions; Artificial neural networks; Finite-time control; barrier Lyapunov function; event-triggered; neural networks; underactuated surface vessel

外文摘要：This paper proposes a robust trajectory tracking control method for underactuated unmanned surface vessels (USVs) with input saturation based on a relative threshold event-triggered mechanism (ETM), prescribed performance and finite-time convergence. First, to address the challenges posed to controller design by the nondiagonal inertia matrix, coordinate transformation technology is adapted to change the vessel position. An asymmetric smooth saturation function is employed to address the input saturation problem. Second, an adaptive neural network (NN) is developed to approximate the uncertain nonlinear dynamics and external environmental disturbances. Third, the performance function constraints are integrated into the tan-type barrier Lyapunov function (BLF) to greatly enhance the robustness of the system by combining with the finite-time convergence property. In addition, the dynamic surface control (DSC) technique is employed to address the differential explosion problem. Subsequently, a relative threshold ETM is incorporated into the controller to reduce the communication burden. The rationality and feasibility of the proposed algorithm are confirmed by theoretical analysis and numerical simulations.