Event-Triggered Adaptive Backstepping Control of Underactuated AUVs with Input Saturation
Abstract
:1. Introduction
2. Mathematical Model and Preliminaries
2.1. Problem Formulation
2.2. Assumption and Lemma
2.3. Output Redefinition and Auxiliary System
3. Controller Design
3.1. Adaptive Backstepping Controller Design
- Step 1:
- Step 2:
- (1)
- (2)
3.2. Dynamic Event-Triggered Control
4. Simulation Results
4.1. Example 1
4.2. Example 2
4.3. Discussion
5. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Expression | |
---|---|
controller | |
update law | |
dynamic event-triggered mechanism |
Static Event-Triggered | Dynamic Event-Triggered | |
---|---|---|
Example 1 | x: | x: |
y: | y: | |
z: | z: | |
Example 2 | x: | x: |
y: | y: | |
z: | z: |
Static Event-Triggered | Dynamic Event-Triggered | |
---|---|---|
Example 1 | 4340 | 3994 |
Example 2 | 3885 | 2624 |
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Qian, F.; Zheng, Y.; Wang, A.; Cai, J. Event-Triggered Adaptive Backstepping Control of Underactuated AUVs with Input Saturation. Electronics 2025, 14, 1839. https://doi.org/10.3390/electronics14091839
Qian F, Zheng Y, Wang A, Cai J. Event-Triggered Adaptive Backstepping Control of Underactuated AUVs with Input Saturation. Electronics. 2025; 14(9):1839. https://doi.org/10.3390/electronics14091839
Chicago/Turabian StyleQian, Feng, Yusheng Zheng, Ao Wang, and Jianping Cai. 2025. "Event-Triggered Adaptive Backstepping Control of Underactuated AUVs with Input Saturation" Electronics 14, no. 9: 1839. https://doi.org/10.3390/electronics14091839
APA StyleQian, F., Zheng, Y., Wang, A., & Cai, J. (2025). Event-Triggered Adaptive Backstepping Control of Underactuated AUVs with Input Saturation. Electronics, 14(9), 1839. https://doi.org/10.3390/electronics14091839