Trajectory Tracking Control of Underwater Vehicle Based on Event Triggering Mechanism
Aiming at the problem of actuator loss caused by horizontal trajectory tracking control and frequent controller updates of underactu-ated autonomous underwater vehicles(AUVs),a trajectory tracking control algorithm for autonomous underwater vehicles based on sliding mode control method and event triggering mechanism is proposed.Firstly,design a controller using sliding mode control method to stabilize po-sition tracking error;Then,an event triggering mechanism is introduced,and event triggering conditions are designed in the channel from the controller to the actuator to reduce the update frequency of the controller.The Lyapunov stability theorem is used to prove that the designed event triggered controller can keep the system stable and avoid Zeno phenomenon.Simulation shows that the surge and yaw controllers trigger a total of 414 and 767 times within 200 seconds,which is similar to the effect of using a traditional periodic sampling controller 4 000 times con-tinuously.
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