Dynamic Event-Triggered Anti-Disturbance Stabilization for 3-DOF Ship-Borne Stabilization Platform with Actuator Saturated Dynamics

This article proposes a dynamic event-triggered antidisturbance stabilization for a ship-born stabilization platform with actuator-saturated dynamics. Simultaneously, considering the ocean environmental disturbances and actuator-saturated dynamics, a robust anti-disturbance control scheme is designed to stabilize the movement states of the ship-born stabilization platform. A disturbance observer is introduced to estimate and compensate for constantly changing disturbances. A secondorder filter has been introduced to address the control derivations induced by the uncertain actuator-saturated dynamics. A dynamic event-triggered mechanism is derived to reduce the wear and tear of the actuators in the presence of constantly changing disturbances. The robust backstepping is adopted to design the final robust dynamic event-triggered anti-disturbance stabilization control law. Based on the illustrative simulations, it is demonstrated that the dynamic event-triggered control scheme can regulate the ship-borne stabilization platform.