Low-complexity tracking for autonomous underwater helicopters with event-triggered mechanism

This paper aims to investigate a low-complexity tracking control method for autonomous underwater helicopters (AUH), which is devoid of nonlinear approximation strategies, ensuring good efficiency and keeping a high accuracy in environmental disturbances and modeling uncertainty. The Nussbaum function and shifting function are introduced to solve the problem of unknown control direction and initial condition of system error, respectively. Besides, to reduce the controller's update rate and the thruster's mechanical loss, an incremental event-triggered control mechanism with two thresholds is added to the algorithm. Finally, the simulations on AUHs show the effectiveness of the proposed scheme.

Automated summary

This paper investigates a low-complexity tracking control method for autonomous underwater helicopters (AUH) without using nonlinear approximation strategies. It aims to ensure efficiency and high accuracy in dealing with environmental disturbances and modeling uncertainty. The introduction of Nussbaum function and shifting function solves the problem of unknown control direction and initial condition of system error. Additionally, an incremental event-triggered control mechanism with two thresholds is added to reduce the update rate of the controller and the mechanical loss of the thruster. Simulation results on AUHs demonstrate the effectiveness of the proposed scheme.