Scholarlink

<p>This study investigates the trajectory tracking transient performance control problem for Unmanned Surface Vehicles (USVs) under event-triggered conditions. First, a fixed-time disturbance observer (FTDO) is designed to achieve real-time precise estimation of external time-varying disturbances. Second, an improved logarithmic barrier Lyapunov function (BLF) is adopted to effectively enhance the accuracy and safety of path tracking for unmanned vessels under complex marine conditions. Finally, an event-triggered mechanism is introduced to reduce the controller update frequency and system computational burden. The designed control law ensures state constraint control while reducing energy consumption. Theoretical analysis proves the uniformly ultimately bounded stability of the closed-loop system. Simulation results from the SimuNPS software show that this method effectively achieves accurate trajectory tracking for high-speed USVs.</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Event-triggered dynamic performance constraint control for trajectory tracking of unmanned surface vehicle

  • 期刊论文

  • 发表日期：

    2025年3月17日

查看全文
  • Dongdong Mu,
  • Xiaomeng He,
  • Yao He,
  • Lu Li

摘要

This study investigates the trajectory tracking transient performance control problem for Unmanned Surface Vehicles (USVs) under event-triggered conditions. First, a fixed-time disturbance observer (FTDO) is designed to achieve real-time precise estimation of external time-varying disturbances. Second, an improved logarithmic barrier Lyapunov function (BLF) is adopted to effectively enhance the accuracy and safety of path tracking for unmanned vessels under complex marine conditions. Finally, an event-triggered mechanism is introduced to reduce the controller update frequency and system computational burden. The designed control law ensures state constraint control while reducing energy consumption. Theoretical analysis proves the uniformly ultimately bounded stability of the closed-loop system. Simulation results from the SimuNPS software show that this method effectively achieves accurate trajectory tracking for high-speed USVs.