Finite-Time Fuzzy Adaptive Dynamic Event-Triggered Formation Tracking Control for USVs With Actuator Faults and Multiple Constraints

This article investigates the finite-time fuzzy adaptive dynamic event-triggered (DET) formation tracking control problem for underactuated unmanned surface vehicles (USVs) subjected to multiple constraints and intermittent actuator faults. The models of USVs contain unknown nonlinear dynamics, so the fuzzy logic systems are employed to estimate them. Meanwhile, considering the frequent updating of actual control input, a DET strategy is designed, which can improve the communication resource utilization. Subsequently, based on the theory of finite-time stability and prescribed performance control technique, a new robust adaptive fault-tolerant control algorithm is presented, which can not only solve the problem of intermittent actuator faults for USVs, but also has the merits of avoiding collision and preserving connectivity. In addition, it also ensures all the signals of the USVs are bounded in finite time. The simulation results can verify the feasibility of the proposed control method.