Event‐triggered‐based finite‐time cooperative path following control for underactuated multiple marine surface vehicles

Abstract

This paper develops an event‐triggered‐based finite‐time cooperative path following (CPF) control scheme for underactuated marine surface vehicles (MSVs) with model parameter uncertainties and unknown ocean disturbances. First, a finite‐time extended state observer (FTESO) is proposed, in which the FTESO can estimate the velocities and compound disturbances in finite time. Then, the finite‐time LOS guidance law based on velocity estimation values is designed to obtain the desired surge velocity and the desired yaw rate. In order to realize the cooperative control of multiple paths in finite time, the cooperative control law for the path variable is designed. In addition, the relative threshold event‐triggered control (ETC) mechanism is incorporated into the formation control algorithm, and an event‐triggered‐based finite‐time CPF controller is designed, which not only effectively reduces the update frequency of controller and the mechanical loss of actuator but also improves the control performance of system. Furthermore, by using homogeneous method, Lyapunov theory, and finite‐time stability theory, it is proved that under the proposed finite‐time CPF control scheme, the formation errors can converge to a small neighborhood around origin in finite time. Finally, numerical simulation results illustrate the effectiveness of the proposed control scheme.

A distributed event‐triggered dynamic average consensus scheme with a time‐varying threshold and its application in DC microgrid

“…Despite of fruitful results in earlier studies [10–36], there still exist technical gaps in DAC and DC smart grid. Most event‐triggered DAC approaches, such as in previous studies [32–34], are with a constant threshold.…”

“…In addition to continuous-time algorithms [28], an event-triggered DAC scheme is an alternative [29,30]. In a triggered fashion [31], Kia et al [32] present two event-triggered DAC algorithms with a constant threshold and a varying threshold related to states, respectively.…”

Distributed event‐triggered optimal bipartite consensus control for multiagent systems with input delay via reinforcement learning method

“…Event-triggered mechanisms have been widely applied in consensus control for MASs of varying complexity and practical applications. For instance, single-agent discrete-time systems with denial-of-service (DoS) attacks [32], nonlinear second-order MASs [33] and high-order MASs with input saturation [34], unknown system with multiple controllers [35], formation control of multiple wheeled mobile robots [36], and event-triggered mechanisms have been extensively studied for consensus control. Similarly, there are also articles that use RL algorithms to solve the optimal event-triggered control strategies, such as [37] which designs a decentralized event-triggered optimal control scheme and [38] which designs a distributed event-triggered optimal consensus control.…”

Adaptive event‐triggered consensus of singular multi‐agent systems based on asynchronous data sampling

“…In 2009, event-triggered strategy was used in multi-agent system [11]. Since then, this method has been introduced into various systems to investigate consensus problem [12][13][14][15][16][17]. So far, fundamental results derived from ETC based on sample data have been reported in [18][19][20][21][22][23], in which the states of agents are sampled at certain intervals and detected by event-triggered scheme.…”