Event-Based Prescribed Performance Anti-Disturbance Switchable Trajectory-Tracking Control for Underactuated Surface Vessels With Input Saturation

In this paper, we focus on solving the prescribed performance switchable trajectory tracking control problem for underactuated surface vessels, where input saturation, command communication burden, external disturbances, the user-defined convergence domain, and the “explosion of complexity” problem are considered. Specifically, first, we introduce a Gaussian error function to address the input saturation constraints and employ a command filter to avoid the “explosion of complexity” problem. Furthermore, we design a novel prescribed performance function to constrain the transient and steady-state indicators of the tracking error and allow switching the desired tracking trajectory. An adaptive hybrid event-triggering mechanism is subsequently proposed to mitigate redundant communication demands. Next, a switching self-tuning mechanism is constructed to compensate for the negative effects of the uncertainty term. Based on this mechanism, our scheme ensures that the error converges to a user-defined convergence domain that is independent of the uncertainty term. Finally, the effectiveness of the proposed scheme is demonstrated through Lyapunov-based stability analysis and numerical simulations.