Dynamic Threshold Event-Triggered Control for Sail-Assisted USV with Sail Compensation

This paper focuses on the course-keeping control for sail-assisted unmanned surface vehicle (USV) with sail uncertainty compensation. The robust adaptive control technique for sail-assisted USV is proposed by fusing adaptive compensation technology and dynamic threshold event-triggered. Unnecessary transmission is reduced between controller and actuator by constructing dynamic threshold event-triggered mechanism (DETM). Different from the existing control algorithms, this algorithm considers the effect of the sail on the rudder under the optimal sail asssisted thrust. Moreover, the closed-loop system conforms to semi-global ultimate bounded (SGUUB) and is proved by Lyapunov candidate function. The effectiveness of the proposed scheme is proved by numerical experiments under simulated marine environment.