Event driven tracking control algorithm for marine vessel based on backstepping method

In this paper, an event driven tracking control algorithm based backstepping method is proposed for marine vessel. A tracking controller is designed by using backstepping method at the beginning to guarantee global asymptotic tracking of the desired position or trajectory. The proposed event driven tracking control algorithm is achieved by extending the designed continuous time tracking controller. The event driven conditions are developed to determine the updated time instants of the event driven controller. The proposed event driven tracking controller could ensure that the error of tracking is uniform ultimately bounded and no Zeno behavior. Compared to the existing continuous or discrete controller, the communication quantity will be reduced by introducing the event driven conditions, and meanwhile it will lead to little executions of actuator. The performance of this algorithm is finally demonstrated through the simulation results.