This paper investigates discrete-time sliding mode trajectory tracking control for fully actuated autonomous surface vessels (ASVs) with unknown nonlinear dead-zone and saturation inputs, utilizing a switching dynamic event-triggered mechanism (DETM). Through model integration, a direct relationship between ASV position and control inputs is established, simplifying trajectory tracking strategy design. ASVs face dead-zone and saturation constraints in control inputs, where low input signals may not overcome static friction, hindering maneuverability, and further increases are ineffective once actuators reach maximum thrust. Unlike linear dead-zone and saturation input constraints with known parameters, this paper considers a more realistic scenario of unknown nonlinearity, employing adaptive neural networks to approximate and compensate for the resulting unknown dynamics. Moreover, limited internal communication resources constrain real-time inter-subsystem communication in ASVs, while frequent short-period sampling in stable conditions results in unnecessary energy and computational consumption, collectively degrading trajectory tracking performance. A novel switching DETM is proposed to reduce unnecessary data transmission, which switches triggering conditions based on variations in auxiliary dynamic variables. Meanwhile, the controller output variation is integrated into the event-triggered conditions to enhance tracking control performance. Based on this, a discrete-time sliding mode trajectory tracking controller suitable for large sampling periods is designed. This ensures satisfactory tracking control effectiveness while further reducing unnecessary data transmission frequency and conserving limited communication resources within a larger range of sampling periods. All tracking errors are proven to be controlled within a small vicinity near zero. The numerical simulation results validate the efficacy of the proposed control strategy.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Switching Dynamic Event-Triggered Sliding Mode Based Trajectory Tracking Control for ASVs With Nonlinear Dead-Zone and Saturation Inputs


    Contributors:
    Zhang, Guorong (author) / Chew, Chee-Meng (author) / Xu, Yujie (author) / Fu, Mingyu (author)


    Publication date :

    2025-03-01


    Size :

    1945213 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Adaptive Sliding Mode Tracking Control with Saturated Dead-zone Nonlinear Inputs

    Tao, H.-f. / Hu, S.-s. | British Library Online Contents | 2009


    Quadrotor Unmanned Aerial Vehicle Trajectory Tracking Under Event-Triggered Sliding Mode Control

    Jiang, Han / Yin, Ruhui / Shu, Zilin et al. | Springer Verlag | 2025


    Sliding Mode Control for Uncertain Delay Discrete-time Systems with Dead-zone Saturation

    Sun, N. / Niu, Y. / Jia, T. | British Library Online Contents | 2013


    A Novel Approach to Model and Implement Planar Trajectory-Tracking Controllers for AUVs/ASVs

    Dong, N. / Nam, N.H. / Tuan, K.M. et al. | British Library Conference Proceedings | 2014


    Event-triggered nonlinear model predictive control for trajectory tracking of unmanned vehicles

    Zou, Kai / Cai, Yingfeng / Chen, Long et al. | SAGE Publications | 2023