Adaptive fuzzy finite-time event-triggered formation control for unmanned surface vehicle systems

This paper studies the finite-time event-triggered fuzzy formation control problem for multiple unmanned surface vehicle (USV) system. The fuzzy state estimator is designed by intermittent output signal to estimate unmeasurable velocity and yaw velocity of the USV. The dual-channel event-triggered mechanisms (ETMs) are designed to reduce the updating times from sensor-to-actuator and controller-to-actuator channels, respectively. Based on the designed fuzzy state estimator and ETMs, a finite-time fuzzy adaptive output feedback formation control is formulated. It is proved that the controlled USV system is semi-global practically finite-time stable. Moreover, the outputs of the followers are able to track the output of the leader. Finally, the simulation and comparison results are provided to demonstrate the feasibility of the presented formation control algorithm.