Event-triggered anti-disturbance trajectory tracking for under-actuated surface vehicle under multiple constraints and input quantization

Abstract

In this paper, a disturbance observer based trajectory tracking control method for under-actuated surface vehicle (USV) is investigated with multiple constraints. In light of the intricate constraints encountered by the USV system, such as input, output, and execution constraints of the under-actuated USV, this research suggests a novel control approach. A disturbance observer compensates for the impacts of external disturbances on the control system and estimates them efficiently. Surge controllers and yaw controllers are designed to address the issue of under-actuated USV with two configurable inputs: yaw moment and surge control force. The saturation function and Barrier Lyapunov function are used to solve the input and output constraints of the under-actuated USV, ensuring that the system’s state and control in-puts remain within an acceptable range. The input quantization technique and the time-varying threshold event-triggered mechanism are introduced in this study to further reduce the energy consumption and communication overhead. Ultimately, this study uses simulation and stability analysis to confirm the efficacy of the suggested approach, and the findings demonstrate that the control strategy can sustain accurate trajectory tracking performance while adhering to the constraints.