Robust Adaptive Finite-time Trajectory Tracking Control System for Underactuated Surface Vessels with Event-Triggered Input

This paper designs a finite-time trajectory tracking control system with event-triggered input for underactuated surface vessels(USVs) which are influenced by dynamic uncertainties, unknown time-varying disturbances and limited communication resources. In this system, the virtual reference heading is obtained by performing norm inverse calculation on the virtual control of sway and surge, and a new kinematic error equation is constructed based on this. Then, the internal dynamic uncertainty and the external time-varying disturbance in the system are compounded linearized, and the upper bound of the compound uncertainty term are approximated by adaptive technology. Combined with the finite-time control theory, the kinematic virtual control is optimized, and the finite-time control law is obtained. Through the event-triggered technology, the control frequency of the system is limited to ensure the effective use of communication resources. Finally, the design process of the whole system is strictly analyzed, and the performance of the system is effectively verified by two sets of simulations.