Dual-Channel Event-Triggered Sliding-Mode Heading Control for Unmanned Surface Vehicles
Authors: Zhao, H., Chen, Y., Xu, D., Yu, H.
Journal: IEEE Transactions on Vehicular Technology
Publication Date: 01/07/2026
Volume: 75
Issue: 7
Pages: 12749-12758
eISSN: 1939-9359
ISSN: 0018-9545
DOI: 10.1109/TVT.2026.3654060
Abstract:This paper presents a data-driven dual-channel event-triggered sliding-mode heading control approach for unmanned surface vehicles with uncertain dynamic models. First, a compact form dynamic linearization model is constructed using a pseudo-partial derivative technique, relying solely on the redefined output and input data and eliminating the need for an explicit system model. To reduce communication and energy consumption, a dual-channel event-triggered scheme is developed, consisting of a relative-threshold scheme for the control input channel and a dynamic-threshold scheme for the output feedback channel. Furthermore, a second-order switching surface incorporating a fast terminal-sliding function is introduced to ensure finite-time convergence and enhanced robustness. Finally, rigorous mathematical proofs are provided, and several simulations are conducted to validate the effectiveness of the proposed method.
Source: Scopus