Time-Event-Memory Triggered Switching Dynamic Positioning for Unmanned Marine Vehicles With Mass-Switched and Dual-Source Disturbances

This paper is concerned with the switching dynamic positioning (DP) control issue for unmanned marine vehicles (UMVs). Primarily, a switched T-S fuzzy model that describes UMVs subject to mass-switched, nonlinear terms as well as dual-source disturbances is introduced for the first time. Unmeasurable modeled wave drifts and measurable unmodeled residual filtered waves are constituted by dual-source disturbances. An estimator is constructed to capture the wave drifts. Further, a time-event-memory triggered mechanism that combines the advantages of both time-triggered and event-triggered mechanisms is presented. This mechanism seeks to conserve limited communication resources without significantly sacrificing system performance. The retained historical information in the memory term provides greater flexibility for the triggered conditions. Finally, leveraging the multiple Lyapunov functions technique, the solvability criteria for the switching DP issue is provided. The reliability of the proposed strategy is confirmed by a mass-switched vessel.