Work

Finite-Time Event-Triggered Formation Tracking Control of USVs Subject to Input Saturation Based on Active Disturbance Rejection Control

Year: 2026

Type: article

Abstract: This paper proposes an integrated finite-time relative-threshold event-triggered control (FTRTETC) framework for unmanned surface vehicle (USV) formations under input saturation and unknown time-varying external disturbances. Firstly, a scheme of USV formation control based on signed graph theory is proposed. Next, a Gaussian error function is used to handle input saturation and simplify the backstepping design. Then, a finite-time formation controller is developed based on the active disturbance rejection control (ADRC) method with extended state observers (ESOs) and tracking differentiators (TDs). Also, a relative-threshold event-triggered mechanism is designed to reduce the frequency of control execution and communication load. By Lyapunov’s stability theory, the proposed controller is proven to achieve finite-time convergence, ensuring all closed-loop signals achieve global uniform ultimate boundedness (GUUB) and the system is without Zeno behaviour. Finally, numerical simulation examples are presented to validate the effectiveness and robustness of the proposed controller.

Source: Journal of Marine Science and Engineering

DOI: 10.3390/jmse14040394

Authors: Dongling Yu, Zhiguang Feng

Institutions: Harbin Engineering University, Nanyang Technological University

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $3,137

OpenAlex ID: W7130859483

FWCI:

Cites:

Cited by:

Related to: