Continuous and Periodic Event-Triggered Sliding-Mode Control for Path Following of Underactuated Surface Vehicles
针对欠驱动水面船舶的路径跟踪问题，设计了连续和周期事件触发的滑模控制算法，首次建立了准滑模上界，并证明双曲正切函数不影响事件触发引起的边界层，可降低能耗。
This article develops continuous and periodic event-triggered sliding-mode control (SMC) algorithms for path following of underactuated surface vehicles (USVs). Based on the SMC technology, a continuous path-following control law is designed. The upper bounds of quasi-sliding modes for path following of USVs are established for the first time. Subsequently, both continuous and periodic event-triggered mechanisms are considered and added into the proposed continuous SMC scheme. It is demonstrated that with appropriate selecting of control parameters, the use of hyperbolic tangent functions does not affect the boundary layer of quasi-sliding mode caused by event-triggered mechanisms. The proposed continuous and periodic event-triggered SMC strategies can make the sliding variables reach the quasi-sliding modes and stay in there. Moreover, energy consumption can be reduced. Stability analysis shows that the USV can follow a reference path by using the designed method. The simulation results show the effectiveness of the proposed control methods.