This article considers the trajectory tracking control for unmanned surface vessels with unknown time-variant external disturbances and input saturation. The strategy mainly consists of event-triggered reset sub-controller and nonlinear disturbance observer–based compensation sub-controller. To reduce network transmissions, and in the meanwhile, guarantee the desirable closed-loop behavior, the event-triggered reset control is proposed where the reset law and the event-triggered mechanism are designed separately. Both of static and dynamic event-triggered reset controllers are designed. Their corresponding stability is demonstrated using Lyapunov stability theory. Finally, numerical simulation results are presented to demonstrate the effectiveness and robustness of the proposed trajectory tracking control strategy.

本文考虑了具有未知时变外部干扰和输入饱和度的无人水面舰船的轨迹跟踪控制。该策略主要包括事件触发的复位子控制器和基于非线性干扰观测器的补偿子控制器。为了减少网络传输，同时保证理想的闭环行为，提出了事件触发的复位控制，其中复位律和事件触发机制是分开设计的。设计了静态和动态事件触发的复位控制器。利用李雅普诺夫稳定性理论证明了它们相应的稳定性。最后，数值仿真结果表明了所提出的轨迹跟踪控制策略的有效性和鲁棒性。