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<p>This paper addresses cooperative tracking and heterogeneous synchronization for an underactuated unmanned surface vehicle-unmanned aerial vehicle (USV-UAV) system subject to complex unknown nonlinearities and limited communication resources. To generate feasible reference trajectories respecting distinct kinematic constraints, a three-dimensional (3-D) cooperative guidance law is formulated inspired by the international aeronautical and maritime search and rescue (IAMSAR) manual. Targeting the unmodeled dynamics, an adaptive control algorithm is designed by adopting fuzzy logic systems (FLSs). Furthermore, a structure synchronized dynamic event-triggered mechanism (DETM) is proposed to ensure synchronous updates of control inputs and parameters, reducing resource consumption. Lyapunov analysis confirms all system states are semi-global uniform ultimate bounded (SGUUB) and Zeno behavior is excluded. Simulations demonstrate the proposed algorithm’s superiority in achieving high-precision tracking and robust synchronization with significantly reduced triggering frequency.</p>

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Structure synchronized dynamic event-triggered control for USV-UAV under maritime sector search mission

  • 期刊论文

  • 发表日期：

    2026年5月1日

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  • Guoqing Zhang,
  • Zhuohao Shi,
  • Yingshuo Xing,
  • Jiqiang Li,
  • Heye Xiao

摘要

This paper addresses cooperative tracking and heterogeneous synchronization for an underactuated unmanned surface vehicle-unmanned aerial vehicle (USV-UAV) system subject to complex unknown nonlinearities and limited communication resources. To generate feasible reference trajectories respecting distinct kinematic constraints, a three-dimensional (3-D) cooperative guidance law is formulated inspired by the international aeronautical and maritime search and rescue (IAMSAR) manual. Targeting the unmodeled dynamics, an adaptive control algorithm is designed by adopting fuzzy logic systems (FLSs). Furthermore, a structure synchronized dynamic event-triggered mechanism (DETM) is proposed to ensure synchronous updates of control inputs and parameters, reducing resource consumption. Lyapunov analysis confirms all system states are semi-global uniform ultimate bounded (SGUUB) and Zeno behavior is excluded. Simulations demonstrate the proposed algorithm’s superiority in achieving high-precision tracking and robust synchronization with significantly reduced triggering frequency.