Event-triggered sliding mode trajectory tracking control for underactuated unmanned surface vessel

Abstract

This article considers the trajectory tracking control for underactuated unmanned surface vessel and actuator loss caused by frequent updating of the controller. An event-triggered sliding mode trajectory tracking control algorithm is proposed for the problems. A sliding mode tracking controller is designed by the integral sliding surface at the beginning to guarantee global asymptotic tracking of the desired trajectory. Based on the tracking controller, the event-triggered condition is designed in the channel of the controller to actuator, which effectively reduces the update frequency of the controller. Theoretical analysis proves that the states of underactuated unmanned surface vessel are uniformly stable, while the Zeno behavior is prevented. The results of the numerical simulation are presented to demonstrate the effectiveness of the proposed algorithm.

Integrated fault detection filter and fault-tolerant control for the unmanned surface vehicle with deception attacks

“…5 To broaden the diversity of USV mission execution, a variety of theoretical challenges and practical applications have been studied in depth, such as formation control, 6 navigation planning, 7 and tracking control. 8 To this end, a control algorithm is proposed for underactuated USV to ensure obstacle avoidance while satisfying control and state constraints, 9 and constraints arising from rudder deflection and rate saturation, 7 and limits due to environmental disturbances, such as winds and waves. 8 Due to the complexity of ocean environment and the underactuation of the USV, many sorts of unexpected and unavoidable situations, such as sensor faults, actuator faults, and thrust insufficient happening during the execution of missions, may degrade system performance or potentially lead to catastrophic events.…”

“…8 To this end, a control algorithm is proposed for underactuated USV to ensure obstacle avoidance while satisfying control and state constraints, 9 and constraints arising from rudder deflection and rate saturation, 7 and limits due to environmental disturbances, such as winds and waves. 8 Due to the complexity of ocean environment and the underactuation of the USV, many sorts of unexpected and unavoidable situations, such as sensor faults, actuator faults, and thrust insufficient happening during the execution of missions, may degrade system performance or potentially lead to catastrophic events. To address this issue, on one hand, the development of fault detection (FD) technology is essential to reduce the risk of accidents, death of persons, and loss of economy for USV.…”

“…5 To broaden the diversity of USV mission execution, a variety of theoretical challenges and practical applications have been studied in depth, such as formation control, 6 navigation planning, 7 and tracking control. 8 To this end, a control algorithm is proposed for underactuated USV to ensure obstacle avoidance while satisfying control and state constraints, 9 and constraints arising from rudder deflection and rate saturation, 7 and limits due to environmental disturbances, such as winds and waves. 8…”

“…8 To this end, a control algorithm is proposed for underactuated USV to ensure obstacle avoidance while satisfying control and state constraints, 9 and constraints arising from rudder deflection and rate saturation, 7 and limits due to environmental disturbances, such as winds and waves. 8…”