Event-triggered-based fixed-time tracking control with prescribed performance for an underactuated vessel

In this paper, the trajectory tracking control approach for underactuated surface vessels with an off-diagonal inertia matrix is investigated. For the problem with off-diagonal matrix in the model parameters, the coordinate transformation is used to eliminate the challenges of vessel controller design. To make the control system has better tracking performance, a prescribed performance control method is used to design the controller. With the help of an event-triggered mechanism, the communication pressure in the tracking system is relieved. Based on the abovementioned works, the fixed-time stabilisation is considered in the control approach such that the system has fast convergence characteristics. The effectiveness of the proposed control approach is illustrated by implementing some simulations.