Event-Triggered Auto-Berthing Finite-Time Control for Underactuated Surface Vessel

An investigation of the auto-berthing problem for underactuated surface vessels is presented, considering dynamic uncertainties, finite time, transmission load, and environmental disturbance constraints. It is proposed to integrate the finite time control technology with the event-triggered mechanism input algorithm to develop a novel control scheme. Applying the differential homeomorphism coordinate method transforms the vessel into a standard integral cascade form to solve the underactuated problem. A finite-time technology and an event-triggered technology are then used to save time for the berthing vessel, decrease the transmission burden between the controller and vessel, and reduce the acting frequency of the actuator. Furthermore, the radial basis function network(RBF) is employed to approximate unknown nonlinear functions, and minimum learning parameters(MLP) are introduced to reduce computational complexity. Based on the Lyapunov stability theory, a sufficient effort has been made to verify the stability of the closed-loop system. The simulation results demonstrate the effectiveness of the proposed scheme.