LVS guidance based path following control for unmanned sailboat with the event-triggered input

This note investigates the straight-line path following control problem for the unmanned sailboat in presence of the time-varying marine environment. The proposed control scheme includes two part, i.e., the guidance part and the control part. For the guidance part, an improved logic virtual ship (LVS) guidance principle is developed to generate the real-time reference signal. And for the control part, an event-triggered adaptive neural control algorithm is designed by utilizing the radial basic function neural networks (RBF-NNs) and the event-triggered input technique. The communication burden is largely reduced due to the merits of the event-triggered input technique. In addition, the semi-global uniform ultimate bounded (SGUUB) of the closed-loop control system is proved via the Lyapunov candidate function. Finally, the simulated results are presented to verify the effectiveness of the proposed control scheme.