Event-triggered dynamic landing control of cooperative USV-UAV plant with the compensation mechanism for rolling kinematics.

In this paper, an event-triggered fuzzy control algorithm is proposed for the unmanned surface vessel (USV) and unmanned aerial vehicle (UAV) cooperative plant to achieve the high-precision landing mission. In the guidance module, an L₁ virtual ship-L₁ virtual aerial vehicle (L₁VS-L₁VA) guidance principle is developed to generate the reasonable reference signals for the USV-UAV plant under the landing mission. The proposed guidance principle incorporates a rolling kinematic compensation mechanism based on the 4-degree-of-freedom model of USV, specifically designed to counteract wave-induced rolling disturbances during UAV landing operations on unstable marine platforms. Combined with the guidance module, a dynamic multi-port event-triggered mechanism (MPET) is designed utilizing system output errors to reduce unnecessary resource usage. A synchronized roll-triggering threshold is set to integrate the roll attitude of the USV-UAV plant at the final landing segment, ensuring the balance between data transmission stability and rolling-compensated landing accuracy in engineering practice. The algorithm's stability is proven using the Lyapunov stability theory, and its effectiveness is validated through simulation experiments.