Guaranteed-connectivity-based distributed robust event-triggered tracking of multiple underactuated surface vessels with uncertain nonlinear dynamics

In this paper, we propose a distributed and robust event-triggered tracking methodology with guaranteed network connectivity and tracking performance for synchronization of multiple uncertain underactuated surface vessels (USVs) under limited communication range. To achieve the guaranteed connectivity and performance, the individual position errors among USVs are nonlinearly transformed by time-varying functions and local heading angle errors using approach angles are newly presented. Based on these error functions, the local tracking controllers with asynchronous event-triggering laws are designed for uncertain USV followers without employing adaptive and approximation techniques. Using Lyapunov stability theorem, it is shown that the stability, connectivity maintenance, and tracking performance of the proposed control system are ensured.