Abstract An event-triggered controller (ETC) for global full-state stabilization of under-actuated surface vessels (USVs) is proposed. Based on an inner–outer loop structure with Lyapunov control design technique, the USV dynamics are separated into two subsystems to facilitate the design and stability analysis. A time-varying variable is constructed to design the desired velocities used as virtual control inputs to stabilize the under-actuated outer loop subsystem. For the fully-actuated inner loop subsystem, the actual control force and moment inputs are designed using a switching threshold event-triggering mechanism (SWT-ETM) to drive the actual velocities to the desired ones, thereby the inner loop subsystem and the closed-loop system are stabilized. The proposed ETC guarantees global asymptotical convergence of the stabilization error by choosing proper control parameters. It also significantly reduces the times for communication and the actuator burden while provides stable and accurate control performance. Simulation results are carried out to illustrate the effectiveness of the proposed scheme.

中文翻译：

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欠驱动水面船舶的全局事件触发内-外环稳定性

摘要 提出了一种用于欠驱动水面舰艇 (USV) 全局全状态稳定的事件触发控制器 (ETC)。基于采用李雅普诺夫控制设计技术的内外环结构，USV 动力学分为两个子系统，以方便设计和稳定性分析。构建时变变量以设计用作虚拟控制输入以稳定欠驱动外环子系统的所需速度。对于全驱动内环子系统，实际控制力和力矩输入设计使用切换阈值事件触发机制（SWT-ETM）将实际速度驱动到所需的速度，从而使内环子系统和闭环-循环系统稳定。所提出的 ETC 通过选择适当的控制参数来保证稳定误差的全局渐近收敛。它还可以显着减少通信次数和执行器负担，同时提供稳定和准确的控制性能。仿真结果用于说明所提出方案的有效性。