Adaptive Asynchronous Control for USVs Over Jointly Connected Switching Topologies and Event-Triggered Communication

This article delves into the adaptive event-triggered control approach for a fleet of underactuated unmanned surface vehicles (USVs) that are interconnected through shared switching topologies. The methodology put forth addresses the asynchronous control challenge within this networked framework. By incorporating an event-triggered mechanism, we have crafted the distributed asynchronous observers to approximate the reference signal, capitalizing on the dynamics of distributed errors. Leveraging fuzzy logical systems, we have devised control inputs for the underactuated USVs by employing the backstepping technique. Utilizing Lyapunov stability theory, we have rigorously demonstrated that these control inputs facilitate tracking of the reference signal by the USVs, contingent upon their relative positions. This article concludes with a validation of the proposed control strategy, showcasing its effectiveness in practical scenarios.