Event-triggered fuzzy control of networked nonlinear underactuated unmanned surface vehicle

This paper proposes a Takagi-Sugeno (T-S) fuzzy controller for an underactuated unmanned surface vehicle (USV) based on an event-triggered scheme (ETS) in a network environment. Firstly, a discrete-time event-triggered scheme is introduced to enhance the network resource utilization while counteracting the impact of communication delays on the performance of USV control system. Meanwhile, based on the ETS, the acting frequency of the actuators can be cut down, extending its service life. Then, an event-based T-S fuzzy controller is established. A criteria on global stability analysis and the event-triggering controller are derived by utilizing the Lyapunov functional approach. It expresses in terms of linear matrix inequalities (LMIs). Finally, the effectiveness of our proposed method is verified by numerical simulation. It is demonstrated that the presented main results not only can guarantee the performance, but also reduce the occupation of network bandwidth and the acting frequency of the actuators.