Memory-Based Hybrid-Triggered Dissipative DP Control for Switched UMVs

The paper addresses the memory-based hybrid event-triggered (MHET) dissipative dynamic positioning (DP) issue for the nonlinear unmanned marine vehicles (UMVs) with mass-switched. Primarily, a switched Takagi-Sugeno (T-S) fuzzy UMV model is established to characterize both the mass-switched behaviors and nonlinear features of the UMVs. Subsequently, a hybrid event-triggered scheme based on fuzzy rules and memory is proposed to optimize the balance between communication resource savings and system performance while reducing the conservativeness of the mechanism. This scheme incorporates dynamic memory elements internally, enabling the effective utilization of historical triggering information. Besides, the DP goal is explained from a quasi-dissipative perspective. Finally, simulation results for actual switched vessels are analyzed to validate the effectiveness of the proposed controller in DP tasks.