Autonomous Underwater Vehicle Tracking Control in Complex Environments Based on a Static Event‐Triggering Mechanism

ABSTRACT In this paper, the trajectory tracking control of an autonomous underwater vehicle (AUV) based on discrete time series controllers is explored. Currently, commonly used AUV controllers rely on digital signal processors in embedded systems, and many researchers have not adequately considered the interference to tracking accuracy caused by the discrete nature of hardware control systems during operation. A thrust structure model is developed for a five‐thruster, four‐degree‐of‐freedom AUV. Firstly, the stability of the nonlinear control system is discussed and demonstrated. Secondly, an event‐triggering mechanism is added to the tracking process. When the sensor unit detects the relevant data signal value, it compares it with the event‐trigger setting threshold. If it reaches the trigger value, the communication mechanism is activated, transmitting the data to the AUV's central controller. This initiates the kinematic and dynamic computations to complete motion control, effectively avoiding unnecessary communication, reducing the controller's computational cycle, indirectly saving energy, and improving the system's response speed. Finally, through several simulations and comparative studies, the algorithm is shown to possess strong robustness under complex disturbances compared with MPC and backstepping control. The proposed control scheme reduces the controller's computational cycles while ensuring high tracking accuracy and fast response of the AUV under complex disturbances.