Event-triggered coordinated trajectory tracking control for multiple fully-actuated MSVs under prescribed performance constraints and limited transmission resources

This paper addresses the challenging problem of event-triggered coordinated formation trajectory tracking control for multiple fully-actuated marine surface vehicles (MSVs) affected by uncertain lumped dynamics, time-varying marine environmental disturbances, and prescribed performance constraints, as well as limited transmission resources. A prescribed performance constraint is initially imposed on the neighborhood errors to overcome these issues. The radial basis function neural networks (RBF NNs) and virtual parametric method are adopted to handle the uncertain lumped dynamics and time-varying marine environmental disturbances. Meanwhile, an auxiliary dynamic system is also introduced to compensate for filtering errors. Additionally, a unique event-triggered transmission strategy is devised by innovatively constructing a lumped state term, effectively reducing the burden on the transmission network and conserving resources among the MSVs. A triggering threshold condition is constructed to ensure Zeno-free behavior in the sense that guarantees the lower bound of the release intervals is always larger than zero. The overall Lyapunov theoretical synthesis reveals the boundedness of all closed-loop signals. Finally, the effectiveness and advantages of the designed strategy for event-triggered coordinated trajectory tracking control are verified through numerical simulation.