Practical Finite-Time Event-Triggered Trajectory Tracking Control for Underactuated Surface Vessels With Error Constraints

Practical Finite-Time Event-Triggered Trajectory Tracking Control for Underactuated Surface Vessels With Error Constraints

This paper proposes a robust trajectory tracking control method for underactuated unmanned surface vessels (USVs) with input saturation based on a relative threshold event-triggered mechanism (ETM), prescribed performance and finite-time convergence. First, to address the challenges posed to control...

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Bibliographic Details
Main Authors: Haitao Liu, Yongzhuo Li, Xuehong Tian
Format: Article
Language:English
Published: IEEE 2022-01-01
Series:IEEE Access
Subjects:
Finite-time control
barrier Lyapunov function
event-triggered
neural networks
underactuated surface vessel
Online Access:https://ieeexplore.ieee.org/document/9760464/

Internet

https://ieeexplore.ieee.org/document/9760464/

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