Dynamic Event-Triggered Formation Tracking Control of Unmanned Surface Vehicles with Prescribed Performance via Prescribed-Time Disturbance Observer

This paper studies the prescribed-time unmanned surface vehicles(USVs) formation control. First, to eliminate the effect of disturbances, a prescribed-time disturbance observer( PTDO) is designed without requiring prior knowledge of the disturbance boundary, which can accurately observe the disturbances within a prescribed-time. Second, to ensure the formation tracking performance under abrupt disturbances, a novel multi-threshold prescribed performance function(PPF) is designed, whose parameters can be flexibly adjusted to cope with abrupt disturbances. Third, to reduce unnecessary controller updates, a novel dynamic event-triggered mechanism (DETM) is proposed, whose triggered parameter is prescribed-time stable, thereby yielding longer triggering intervals and reducing resource consumption. Fourth, based on the above designs, a prescribedtime formation tracking controller is developed to ensure that the USV system achieves the desired formation within the prescribed time. Finally, simulation results verify the correctness and superiority of the method.