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Data-Driven Dynamic Event-Triggered Sliding-Mode Heading Control for Unmanned Surface Vehicles with Uncertainties

Authors: Zhao, H., Shan, J., Li, X., Yu, H.

Journal: Conference Proceedings IEEE International Conference on Systems Man and Cybernetics

Publication Date: 01/01/2024

Pages: 3397-3402

ISSN: 1062-922X

DOI: 10.1109/SMC54092.2024.10831303

Abstract:

This paper investigates a data-driven dynamic event-triggered sliding mode heading control problem for un-manned surface vehicles with uncertain dynamics models. First, a virtual sensor is introduced to establish a compact dynamic linearization model for the unmanned surface vehicle. Then, a dynamic event-triggered scheme is developed to alleviate the communication burden. Moreover, a sliding mode surface is designed, and a data-driven dynamic event-triggered sliding mode heading control approach is formulated. Finally, rigorous mathematical proofs are given, and several simulations demon-strate the effectiveness and superiority of the proposed method compared to existing approaches.

Source: Scopus