Event-Triggered Trajectory Tracking Control for Unmanned Surface Vessels With Prescribed Performance Using Barrier Lyapunov Functions
Xian Du, Xu Yuan, Bin Yang, Xudong Zhao
Abstract
This paper investigates the event-triggered trajectory tracking control for unmanned surface vessels with prescribed performance subjected to asymmetric time-varying state constraints. In order to realize the prescribed-time control task, a performance function is introduced and the fuzzy logic systems are adopted to estimate the unknown nonlinearities of the USVs model. Subsequently, a flexible event-triggered mechanism is designed to minimize the wastage of communication resource, taking into account the continuous updating of the actual control input. A practical virtual control signal is devised and used for backstepping design. On this basis, an event-triggered adaptive fuzzy trajectory tracking control algorithm with prescribed performance is developed by combining the defined performance function and the barrier Lyapunov function approach, which not only solves the asymmetric time-varying state constraints of the USVs, but also ensures that the USVs achieve the predetermined tracking performance, meanwhile, all the closed-loop signals can be maintained bounded. Finally, the simulation results are performed to demonstrate the feasibility of the developed control scheme.