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A crucial and challenging issue in existing path-following control of the underactuated surface vessel (USV) is high designed complexity and heavy communication load. In this note, a robust control scheme is proposed to handle the above mentioned issues. The control scheme is divided into two modules: guidance and control. In the former, a L1-based triggering guidance is introduced to solve the overshoot problem at waypoints, and the transmission frequency of the desired heading angle is reduced. In the control module, we present the robust bounded compensating technique to approximate nonlinearities of vessel model. Besides, the dynamic event-triggered control (DETC) technique is used to ease the wear of actuators. Finally, the practicability and superiority of the control system are verified through numerical experiment.

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DOB-Based Robust Bounded Control for USV via a L1-Based Triggering Guidance

  • 会议论文

  • 发表日期：

    2025年

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  • Zhu Sun,
  • Guoqing Zhang,
  • Jiqiang Li,
  • Chenfeng Huang

摘要

A crucial and challenging issue in existing path-following control of the underactuated surface vessel (USV) is high designed complexity and heavy communication load. In this note, a robust control scheme is proposed to handle the above mentioned issues. The control scheme is divided into two modules: guidance and control. In the former, a L1-based triggering guidance is introduced to solve the overshoot problem at waypoints, and the transmission frequency of the desired heading angle is reduced. In the control module, we present the robust bounded compensating technique to approximate nonlinearities of vessel model. Besides, the dynamic event-triggered control (DETC) technique is used to ease the wear of actuators. Finally, the practicability and superiority of the control system are verified through numerical experiment.