Composite anti-disturbance path following control for the underactuated surface vessel under actuator faults

A composite anti-disturbance control algorithm developed for underactuated surface vessel (USV) is proposed to implement the path following task under actuator fault states. In this paper, the acceleration functions is introduced to modify the USV’s kinematic error at first, improving the convergence speed of the kinematic error. Then we construct disturbance observers to estimated the total disturbances compound by actuator faults and marine disturbance. Furthermore, a novel dynamic event-triggered mechanism is developed in this paper. With a composite performance factor designed in triggering threshold, it reduce the communication burden and ensure satisfactory path following accuracy. Eventually, the stability of the proposed algorithm is proved via the Lyapunov theorem. At the same time, numerical simulations are conducted to verify its effectiveness and reasonableness.