Dynamic Event-triggered Model-free Adaptive Heading Consensus Tracking Control for Unmanned Surface Vehicles

This paper investigates a dynamic event-triggered model-free adaptive heading consensus tracking issue for unmanned surface vehicles (USVs). First, a dynamic linearization data model is established by merely using the input and output data of the controlled systems. Then, the characteristics of USVs are analyzed, and a difference-type heading consensus controller is designed. Moreover, the resource-efficient control issue is further considered, and a dynamic event-triggered mechanism is formulated for USVs to implement heading consensus tracking tasks. Finally, the convergence of the consensus tracking errors is roughly proved, and several simulation studies verify the correctness and effectiveness of the proposed method.