Practical Finite-Time Event-Triggered Trajectory Tracking Control for Underactuated Surface Vessels With Error Constraints

This paper proposes a robust trajectory tracking control method for underactuated unmanned surface vessels (USVs) with input saturation based on a relative threshold event-triggered mechanism (ETM), prescribed performance and finite-time convergence. First, to address the challenges posed to control...

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Principais autores:	Haitao Liu, Yongzhuo Li, Xuehong Tian
格式:	Artigo
語言:	Inglês
出版:	IEEE 2022-01-01
叢編:	IEEE Access
主題:	Finite-time control barrier Lyapunov function event-triggered neural networks underactuated surface vessel
在線閱讀:	https://ieeexplore.ieee.org/document/9760464/
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