Adaptive Event-Based Path-Following Control of Underactuated Unmanned Marine Vehicles with Input Constraint

This paper investigates the adaptive event-based path-following control of underactuated unmanned marine vehicles (UMVs) with input constraints. Initially, the line-of-sight guidance method is employed to simplify the tracking of the positions to tracking the line-of-sight angle. Subsequently, the issue of input saturation is addressed by introducing an auxiliary variable, considering that the actuators of UMVs can only provide limited forces and torques. Based on the line-of-sight angle, an adaptive path-following control law with event-triggered mechanism is designed, and stability analysis is conducted using the Lyapunov method, while demonstrating the absence of Zeno behavior. Finally, the effectiveness of the proposed control strategy is validated through simulation.