Cooperative Dynamic Positioning of Marine Surface Vehicles With Prescribed Performance: An Event-Triggered Fuzzy State Observer Design

Abstract

This paper is concerned with the cooperative dynamic positioning problem of marine surface vehicles (MSVs) subject to model uncertainty, unknown states as well as limited communication bandwidth. Particularly, a novel event-triggered fuzzy state observer (ETFSO), using fuzzy logic systems (FLS) and event-triggered mechanism, is developed that the unmeasured velocity is estimated at aperiodically sampled instants with only an updating adaptive parameter rather than heavy weight matrix, thus reducing the communication and computation loads. To well enhance the tradeoff between control performance and communication constraint, a prescribed specification is established via a boundary function, thereby precisely specifying the transient and steady-state performances of synchronized errors. Based on that, the controller is then devised via an input-based event-triggered rule and thruster allocation technique. Finally, simulation results demonstrate the effectiveness of the proposed control protocol.