Leader-Follower Formation Tracking Control of Underactuated Surface Vehicles Based on Event-Trigged Control

This paper investigates the leader-follower formation tracking control of underactuated surface vessels (USVs) with input saturation. Each vessel is subject to the uncertainties induced by model uncertainties and environmental disturbances. First, an event-triggered extended-state observer (ETESO) is used to recover the velocity, yaw rate and uncertainties. Then, an estimator is used to estimate the velocity of the leader. An event-triggered controller (ETC) is constructed based on the estimator, the observer and extra variables. Specifically, extra variables are used to solve the problems of underactuation and input saturation. Stability analysis of the control system is conducted to prove that all signals are bounded. Simulations demonstrate that the ETESO can accurately estimate the uncertainties, velocity and yaw rate, and the ETC can largely reduce the action times of actuator.