Event-Triggered Dynamic Positioning for Mass-Switched Unmanned Marine Vehicles in Network Environments

This article is concerned with event-triggered dynamic positioning for a mass-switched unmanned marine vehicle (UMV) in network environments. First, a switched dynamic positioning system (DPS) model for a mass-switched marine vehicle is established. The switched DPS model takes into consideration changes in the marine vehicle's mass and the resultant switching of the marine vehicle's parameters. Second, for a mass-switched UMV controlled through a communication network, a novel weighted event-triggering communication scheme considering switching features is proposed. The weighted error data of multiple sampling instants are utilized to avoid a long-time nontriggering phenomenon. The consideration of switching features guarantees the current sampled data to be transmitted if a switch occurs between the last sampling instant and the current sampling instant. Then, under the event-triggering scheme, an asynchronously switched DPS model for the mass-switched UMV is established in network environments. Based on this model, a mode-dependent DPS controller and event generator co-design method are proposed to attenuate the disturbance induced by wind, waves, and ocean currents. The DPS performance analysis demonstrates the effectiveness of the proposed method.

Automated summary

This article focuses on event-triggered dynamic positioning for a mass-switched unmanned marine vehicle in network environments. A switched dynamic positioning system model is established to account for changes in the vehicle's mass and switching of parameters. A novel weighted event-triggering communication scheme is proposed for the mass-switched vehicle, utilizing multiple sampling instants to avoid nontriggering. A mode-dependent DPS controller and event generator co-design is proposed for disturbance attenuation. Analysis demonstrates the effectiveness of the method.