Trajectory tracking control of AUV in complex environments based on dynamic event‐triggered mechanism

Abstract This paper addresses the problem of trajectory tracking control of autonomous underwater vehicle (AUV) in complex environments. Firstly, the model uncertainty problem and the disturbances caused by environmental effects are considered. Secondly, due to the short sampling period and large computation in the trajectory tracking process, it reduces the real‐time performance of the system and increases the hardware energy consumption. Therefore, we design an adaptive sliding mode control scheme to overcome the disturbances caused by the environment and model uncertainty. Meanwhile, we set up a dynamic event triggering mechanism to reduce the computation cycle of the processor under the condition of ensuring the tracking control accuracy. The stability of the system is proved by Lyapunov stability theory, which excludes the possible Zeno phenomenon of the dynamic event triggering mechanism. After several sets of simulation comparisons, the advantages of the designed control scheme are verified to include (1) The designed algorithm has high tracking accuracy, strong robustness, and fast system response. (2) The designed dynamic event triggering mechanism can effectively reduce the computational burden.