Guidance-Based Path Following of an Underactuated Ship Based on Event-Triggered Sliding Mode Control

In this paper, the path following of an underactuated ship as a fundamental application for autonomous sailing in seaways is studied. First, guidance system based on line sight (LOS) method established to handle dynamics motion. Then, control converted heading with fewer dimensions. Second, extended state observer (ESO) used observe unknown Third, sliding mode highly robust external disturbance and employed design controller. Fourth, event-triggered mechanism (ETM) included reduce trigger time. All closed-loop signals are shown be bounded by Lyapunov theory. Simulations carried out verify effectiveness proposed method.