Event-Triggered Adaptive Backstepping Control of Underactuated AUVs with Input Saturation

This paper proposes a dynamic event-triggered adaptive backstepping control for underactuated autonomous underwater vehicle systems (AUVs) with input saturation. The proposed method ensures the system’s stability by introducing a new auxiliary signal system to compensate for the input saturation. Firstly, the underactuated AUVs is separated into the underactuated part and the actuated part, and then the dynamic auxiliary signal system is introduced. A transformation is used to combine the actuated part with the auxiliary signal system. The controller is designed using the adaptive backstepping method, and a dynamic event-triggering mechanism is constructed to obtain the event-triggering controller. A strict theoretical analysis is provided to avoid the Zeno phenomenon. Finally, the effectiveness of the dynamic event-triggered adaptive backstepping controller is verified by simulation.