Barrier function-based adaptive sliding mode event-triggered anti-disturbance control of autonomous surface vessels

This paper proposes an adaptive sliding mode event -triggered anti -disturbance control method based on barrier function, addressing the autonomous surface vessel trajectory tracking problem affected by external disturbances, system modeling uncertainty, and limited information transmission. Firstly, a finite -time disturbance observer is introduced to compensate for various uncertainties and disturbances. Then, the design of the barrier function adaptive sliding mode controller compensates for discontinuous disturbances generated by measurement errors, achieves precise tracking, and allows predefining the zero neighborhood where the sliding variables finally converge. Utilizing the event -triggered control strategy instead of continuous control reduces the information transmission burden and actuator energy consumption. In addition, rigorous theoretical analysis proves the stability of the system and the absence of Zeno behavior. Finally, the effectiveness of the proposed control algorithm is confirmed by simulation and comparative analysis.