Distributed Event-Triggered Adaptive Coordinated Trajectory Tracking Control of Multi-USVs Based on the Aggregate Tracking Error

Aiming to solving the nonlinear coordinated trajectory tracking control problem of multi-USVs under influence slowly changing and uncertain environmental disturbances, reducing energy consumption ensuring performance stability, a distributed event-triggered adaptive controller (DET-ACTTC) for multiple unmanned surface vessels (multi-USVs) is proposed based on undirected communication topology. By introducing virtual leader, leader-follower formation used generate errors. Based expected states, aggregate errors are defined, measurement constructed design conditions. An term compensate external environment DET-ACTTC deduced each USV in group. The (ETCTTC) system gradually converge zero, Zeno behavior avoided. theoretical results verified by simulations.