Leader–Follower Formation Tracking Control of Underactuated Surface Vehicles Based on Event-Trigged Control

This paper investigates the leader–follower formation tracking control of underactuated surface vessels (USVs) with input saturation. Each vessel is subject to uncertainties induced by model and environmental disturbances. First, an event-triggered extended-state observer (ETESO) used recover velocity, yaw rate uncertainties. Then, estimator estimate velocity leader. An controller (ETC) constructed based on estimator, extra variables. Specifically, variables are solve problems underactuation Stability analysis system conducted prove that all signals bounded. Simulations demonstrate ETESO can accurately uncertainties, rate, ETC largely reduce action times actuator.