Target Interception of Marine Surface Vehicle With Dynamic Memory Event-Triggered Prescribed Performance Control

Abstract

This article studies the target interception control problem of a marine surface vehicle (MSV) under communication constraint and performance specification. The interception mechanism, inspired by a dynamic potential field approach, ensures the MSV globally intercepts the target from any initial position, without requiring knowledge of the target’s velocity. Prescribed performance ensures that tracking errors converge to a specified region, while relaxing the common assumption on initial value constraints via a shifting function. To reduce actuator’s manipulation frequency, an event-triggered controller with a dynamic memory event-triggered generator is developed, featuring longer triggering intervals compared to a memoryless one. Considerable efforts are made to guarantee that signals in closed-loop system remain semi-globally uniformly ultimately bounded. Simulation results demonstrate the effectiveness and superiority of this control scheme.