L1-based virtual guidance and robust adaptive event-triggered control of large-scale USV for a narrow channel maneuver

Abstract

This note proposes a robust adaptive control strategy for the narrow channel maneuvering mission of the large-scale underactuated surface vessel (USV). The proposed strategy consists of the guidance module and control module. For the former, a L1-based virtual guidance is developed to generate the reference signal and guide the large-scale USV to execute the narrow channel maneuver, which aims to overcome the overshoot problem near waypoints. For the latter, a robust adaptive control algorithm with a novel dynamic event-triggered mechanism is designed. In particular, the model uncertainties and external disturbances are addressed with a new approach called “robust bounded compensating technique”, leading to a lower design complexity while the robustness is increasing. Furthermore, the output-based dynamic event-triggered control (DETC) mechanism without preset parameters tuning is introduced to reduce the transmission frequency from controller to actuator. Besides, considerable efforts have done to prove the stability of the proposed algorithm via the Lyapunov theorem. Finally, the effectiveness and superiorities of the proposed method are demonstrated with two numerical examples, where the satisfied tracking accuracy and low transmission frequency are achieved in presence of the marine environment.