Unmanned ship event triggering dynamic parallel trajectory tracking controller and method

Abstract

The invention provides an unmanned ship event triggering dynamic parallel trajectory tracking controller and method. The controller comprises an artificial unmanned ship system, a first static event trigger, a second static event trigger, a parallel trajectory tracking dynamic controller and an actual controller. The artificial unmanned ship system receives triggered position and yawing angle information, speed information and acceleration information sent by the first static event trigger, receives triggered control input sent by the second static event trigger, and sends state information; a total disturbance estimation value of the system and a modeling error estimation value are transmitted to a parallel trajectory tracking dynamic controller; according to the invention, a dynamic controller is designed, so that the controller and a controlled object tend to be consistent in mathematical expression. According to the method, the change of the control signal can be determined based on the current system state, so that the stable output of the control signal is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned boat trajectory tracking control, and in particular to an unmanned boat event-triggered dynamic parallel trajectory tracking controller and method. Background Art

[0002] Deep exploration, scientific development and rational utilization of the ocean have become the strategic focus of development in various countries. Unmanned boats have been widely used and deployed in tasks such as ocean surveillance, ocean rescue, target search, environmental measurement and military operations due to their small size, flexible maneuverability, scalable functions and low risk. A core issue faced by unmanned boats when performing tasks is to ensure that they can accurately track and control. According to the different motion scenarios of unmanned boats, tracking control can be divided into trajectory tracking and path tracking. Among them, unmanned boat trajectory tracking is an important part of unmanned boat tracking and control tasks. Its goal is to enable unmanned boats to accurately, stably and autonomously navigate according to a predetermined time-varying reference trajectory, so as to achieve the purpose of accurately controlling the motion state of the unmanned boat, completing complex tasks or meeting specific performance requirements.

[0003] In recent years, the field of unmanned boat trajectory tracking control has attracted extensive attention and in-depth research from a large number of scholars. For example, Chinese patent CN11700319557A proposes an unmanned boat trajectory tracking control method based on online deep learning. This method trains the unmanned boat dynamic model based on the data collected from the current dynamic data set, providing a high-precision model for the design of the unmanned boat trajectory tracking controller; Chinese patent CN117032258A discloses a low-dimensional optimization trajectory tracking control method based on a disturbance observer. This method establishes a mathematical model of environmental interference based on a linear disturbance observer, can suppress environmental interference in a targeted manner, and converts high-dimensional disturbance quantities into low-dimensional disturbance compensation control quantities through a low-dimensional optimization model, thereby reducing the computational load of the real-time control system, shortening the control time, and improving the real-time performance of the control, and achieving effective trajectory tracking control in complex sea conditions with strong external environmental interference.

[0004] However, the existing trajectory tracking control methods for unmanned boats have the following shortcomings:

[0005] First, most of the existing unmanned boat trajectory tracking control methods require real-time sampling and real-time calculation of the state of the unmanned boat, which leads to repeated and useless calculation processes, aggravates actuator wear and resource consumption, and thus shortens the service life.

[0006] Second, most existing unmanned boat trajectory tracking controllers are based on algebraic relationships and determine the control signal by calculating the error between the current system state and the desired state, without considering the rate of change or derivative information of the system state.

[0007] Third, traditional trajectory tracking control strategies are usually designed based on the real ship status, but these methods often do not involve the information interaction between virtual space and physical space, and fail to extend the complex trajectory tracking problem to virtual space, reducing the repeatability of the experiment. Summary of the invention

[0008] In view of this, the purpose of the present invention is to propose an unmanned boat event-triggered dynamic parallel trajectory tracking controller and method to overcome the technical problems of existing unmanned boat systems that do not consider non-periodic communication and sudden changes in system state information.

[0009] The technical means adopted by the present invention are as follows:

[0010] An unmanned boat event-triggered dynamic parallel trajectory tracking controller for controlling an actual unmanned boat system, characterized in that it includes an artificial unmanned boat system, a first static event trigger, a second static event trigger, a parallel trajectory tracking dynamic controller and an actual controller;

[0011] The artificial unmanned boat system receives the position and pitch angle information η after the trigger sent by the first static event trigger c , speed information v c , acceleration information k c , the artificial unmanned boat system receives the triggered control input τ sent by the second static event trigger νc , the artificial unmanned boat system sends status information Estimated value of total disturbance of the system and the modeling error estimate to parallel trajectory tracking dynamic controller;

[0012] The actual unmanned boat system receives the control input τ after triggering sent by the actual controller νc , the actual unmanned boat system sends the position and yaw angle information η, speed information v, and acceleration information k of the actual unmanned boat to the first static event trigger, and the actual unmanned boat system sends the position and yaw angle information η, and speed information v to the actual controller;

[0013] The actual controller receives the position and pitch angle information η and speed information v sent by the actual unmanned boat system, and receives the triggered control input τ sent by the second static event trigger. νc , the actual controller sends the control input τ after triggering νc To the actual unmanned boat system;

[0014] The parallel trajectory tracking dynamic controller receives a given time-varying trajectory η d , status information sent by the artificial unmanned boat system Estimated value of total disturbance of the system and the modeling error estimate The parallel trajectory tracking dynamic controller sends the control input τ ν To the second static event trigger;

[0015] The first static event trigger receives the actual unmanned boat position and yaw angle information η, speed information v, and acceleration information k sent by the actual unmanned boat system, and the first static event trigger sends the triggered position and yaw angle information η c , speed information v c , acceleration information k c To manned unmanned boat systems;

[0016] The second static event trigger receives the control input τ sent by the parallel trajectory tracking dynamic controller ν , the second static event trigger sends the control input τ after triggering νc To the actual controller, the second static event trigger sends the triggered control input τ νc To the manned unmanned boat system.

[0017] Furthermore, considering the three-degree-of-freedom maneuvering model of an actual unmanned boat, the kinematic and dynamic equations of the actual unmanned boat system are expressed as:

[0018]

[0019] where η = [x, y, ψ] T Indicates the position and pitch angle of the unmanned boat; ν=[u,v,r] T represents the angular velocity of the unmanned boat in the longitudinal, transverse and bow pitch; f(ν)=[f u ,f v ,f r ] T represents the unmodeled dynamics caused by centripetal force and damping force; represents the mass inertia matrix of the unmanned boat; τ ν =[τ u ,τ v ,τ r ] T represents the control input; τ ω =[τ ωu ,τ ωv ,τ ωr ] T represents external environmental disturbance; k = [k u ,k v ,k r ] Trepresents the acceleration information of the unmanned boat; R(ψ)=[cos(ψ),-sin(ψ),0;sin(ψ),cos(ψ),0;0,0,1] represents the rotation matrix; [·] T Represents the transpose of a vector.

[0020] Furthermore, the design steps of the artificial unmanned boat system are as follows:

[0021] Using Fourier series theorem and Taylor polynomial theorem to approximate the unknown total disturbance term, the dynamic model of the actual unmanned boat system is rewritten as:

[0022]

[0023] in, represents weight, σ=[σ u ,σ v ,σ r ] T represents the modeling error, M * is the nominal matrix of M,

[0024] represents basis functions;

[0025] The artificial unmanned boat system is designed as follows:

[0026]

[0027] in, are the observed values ​​of η, ν, σ, and W; is a positive definite coefficient matrix; is the adjustable gain; η c =[x c ,y c ,ψ c ] T , ν c =[u c ,v c ,r c ] T , k c =[k uc ,k vc ,k rc ] T They are the states after η, ν and k are triggered respectively.

[0028] Furthermore, the triggering mechanism of the first static event trigger is as follows:

[0029]

[0030] in, Respectively represent the measurement errors of η, ν, and k; 0<ξ α<1, respectively represents the corresponding event triggering threshold; δ α is a small constant set; Indicates the next triggering moment. Indicates the last triggering time, set

[0031] Furthermore, the parallel trajectory tracking dynamic controller design steps are as follows:

[0032] First, the tracking error of the actual unmanned boat at time t, the tracking error of the artificial unmanned boat at time t, and the tracking error of the artificial unmanned boat at time t+T are defined as follows:

[0033]

[0034] The parallel trajectory tracking dynamic controller is designed as follows:

[0035]

[0036] Among them, the P matrix is:

[0037]

[0038] Furthermore, the triggering mechanism of the second static event trigger is as follows:

[0039]

[0040] in, is the measurement error; Trigger threshold for the event.

[0041] The present invention also provides an unmanned boat event-triggered dynamic parallel trajectory tracking control method, which is implemented based on any of the above unmanned boat event-triggered dynamic parallel trajectory tracking controllers, and includes the following steps:

[0042] At time t, the actual position and pitch angle information η, velocity information v, and acceleration information k of the unmanned boat are sent to the first static event trigger;

[0043] When the trigger condition is met, the first static event trigger will trigger the actual position and bow angle information of the unmanned boat after the triggering. c , speed information v c , acceleration information k c Send in the artificial unmanned boat system;

[0044] The artificial unmanned boat system combines the control input τ after triggering νc And the actual unmanned boat position and bow angle information η after triggering c , speed information v c , acceleration information k cGenerate the next moment's artificial unmanned boat system status information Total disturbance estimate of the system and the modeling error estimate The control input τ is fed into the parallel trajectory tracking dynamic controller v ;

[0045] When the trigger condition is met, the second static event trigger outputs the triggered control input τ vc ;

[0046] The control input after the trigger τ vc The data are sent to the actual controller and the artificial unmanned boat system respectively;

[0047] The actual unmanned boat, driven by the actual controller, generates the unmanned boat state information η, ν, k at the next moment and synchronizes the state with the artificial unmanned boat system, thereby completing the control closed loop.

[0048] Compared with the prior art, the present invention has the following advantages:

[0049] First, compared with the existing method of measuring the motion control of unmanned boats with a large number of sensors, the present invention requires fewer sensors. Only through the position state information output by the unmanned boat positioning system, the speed information of the unmanned boat and the overall disturbance information it receives in the marine environment can be observed. This method has a simple structure, low cost, and does not rely on sensors or accurate unmanned boat models, so it is easier to implement in marine engineering.

[0050] Second, compared with the existing unmanned boat trajectory tracking control method, the present invention designs a dynamic controller so that the controller and the controlled object are consistent in mathematical expression. This method can determine the change of the control signal based on the current system state, thereby achieving a stable output of the control signal.

[0051] Third, compared with the existing state observer design method that updates the calculation at a fixed sampling period, the present invention introduces the event trigger mechanism into the controller design, designs an event-triggered extended state observer and a parallel trajectory tracking dynamic controller, which not only ensures the trajectory tracking control effect, but also reduces the number of communications, sampling calculations, and actuator actions. This design reduces the system loss and computing load, saving the limited processor resources of the unmanned boat.

[0052] Fourth, compared with the traditional trajectory tracking control strategy, the present invention extends the complex trajectory tracking problem to the virtual space, and can also perform virtual testing and experimental verification in the virtual space. This innovation improves the repeatability of the experiment and the safety of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0054] Figure 1 It is a schematic diagram of the structure of the controller of the present invention.

[0055] Figure 2 It is a schematic diagram of the trajectory tracking control performance of the unmanned boat of the present invention.

[0056] Figure 3 It is a trajectory tracking error curve diagram of the unmanned boat of the present invention.

[0057] Figure 4 It is a control input curve diagram of the unmanned boat of the present invention.

[0058] Figure 5 It is an event diagram triggered by sampling η of the present invention.

[0059] Figure 6 It is an event diagram triggered by sampling ν of the present invention.

[0060] Figure 7 It is an event diagram triggered by sampling k of the present invention.

[0061] Figure 8 is the control input τ of the present invention v Graph of triggered events. DETAILED DESCRIPTION

[0062] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0063] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0064] like Figure 1 As shown, the present invention provides an unmanned boat event-triggered dynamic parallel trajectory tracking controller, including an artificial unmanned boat system, an actual unmanned boat system, a first static event trigger, a second static event trigger, a parallel trajectory tracking dynamic controller and an actual controller.

[0065] The artificial unmanned boat system is a mirror image of the actual unmanned boat in virtual space. It depicts the motion state of the actual unmanned boat in virtual space. Unlike other inventions, the subsequent controller is designed based on the state of the artificial unmanned boat system.

[0066] The input end of the artificial unmanned boat system is connected to the output end of the first static event trigger and the second static event trigger, and the output end is connected to the input end of the parallel trajectory tracking dynamic controller. The input end of the actual unmanned boat system is connected to the output end of the actual controller, and the output end is connected to the input end of the first static event trigger and the input end of the actual controller. The input end of the actual controller is connected to the output end of the actual unmanned boat and the output end of the second static event trigger, and the output end is connected to the input end of the actual unmanned boat system. The input end of the parallel trajectory tracking dynamic controller is connected to the given time-varying trajectory end and the output end of the artificial unmanned boat system, and its output end is connected to the input end of the second static event trigger. The input end of the first static event trigger is connected to the output end of the actual unmanned boat system, and the output end is connected to the input end of the artificial unmanned boat system. The input end of the second static event trigger is connected to the output end of the parallel trajectory tracking dynamic controller, and the output end is connected to the input end of the actual controller and the input end of the artificial unmanned boat system.

[0067] A. Actual unmanned boat system

[0068] Considering the three-degree-of-freedom maneuvering model of an actual unmanned boat, its kinematic and dynamic equations are expressed as follows:

[0069]

[0070] where η = [x, y, ψ] T Indicates the position and pitch angle of the unmanned boat; ν=[u,v,r] T represents the angular velocity of the unmanned boat in the longitudinal, transverse and bow pitch; f(ν)=[f u ,f v ,f r ] T represents the unmodeled dynamics caused by centripetal force, damping force, etc.; represents the mass inertia matrix of the unmanned boat; τ ν =[τ u ,τ v ,τ r ] T represents the control input; τ ω =[τ ωu ,τ ωv ,τ ωr ] T represents external environmental disturbance; k = [k u ,k v ,k r ] T represents the acceleration information of the unmanned boat; R(ψ)=[cos(ψ),-sin(ψ),0;sin(ψ),cos(ψ),0;0,0,1] represents the rotation matrix; [·] T Represents the transpose of a vector.

[0071] B. Design of manned unmanned boat system

[0072] The actual position of the unmanned boat and the bow angle information η after triggering c , speed information ν c , acceleration information k c And the control input information after triggering τ νc As the input signal of the artificial unmanned boat system. The position and bow angle information of the virtual unmanned boat Speed ​​information Modeling error estimate information System total disturbance prediction value As the output signal of the artificial unmanned boat system.

[0073] The unknown total disturbance term is approximated by Fourier series theorem and Taylor polynomial theorem, so the unmanned boat dynamics model is rewritten as:

[0074]

[0075] in, represents weight, σ=[σ u ,σ v ,σ r ]T represents the modeling error, M * is the nominal matrix of M,

[0076]

[0077] Represents basis functions.

[0078] The artificial unmanned boat system is designed as follows:

[0079]

[0080] in, are the observed values ​​of η, ν, σ, and W; is a positive definite coefficient matrix; is the adjustable gain; η c =[x c ,y c ,ψ c ] T , ν c =[u c ,v c ,r c ] T , k c =[k uc ,k vc ,k rc ] T are the states after η, υ and k are triggered respectively.

[0081] C. Design of the first static event trigger

[0082] The actual unmanned boat position information η, speed information ν, and acceleration information k are given as input signals of the first static event trigger. The actual unmanned boat position information η after triggering c , speed information ν c , acceleration information k c As the output signal of the first static event trigger.

[0083] Design the first static event trigger as follows:

[0084]

[0085] in the formula Respectively represent the measurement errors of η, ν, and k; 0<ξ α <1, respectively represents the corresponding event triggering threshold; δ α is a small constant set. Indicates the next triggering moment. Indicates the last triggering time, set

[0086] D. Parallel trajectory tracking dynamic controller design

[0087] Given a time-varying trajectory η d =[x d (t), y d (t),ψ d (t)] T , the position and bow angle information of the manned unmanned boat system Speed ​​information Total disturbance estimation information And modeling error estimate information As the input signal of the parallel trajectory tracking dynamic controller. The control input τ ν Serves as the output signal of the parallel trajectory tracking dynamic controller.

[0088] First, the tracking error of the actual unmanned boat at time t, the tracking error of the artificial unmanned boat at time t, and the tracking error of the artificial unmanned boat at time t+T are defined as follows:

[0089]

[0090] The parallel trajectory tracking dynamic controller is designed as follows:

[0091]

[0092] The P matrix is:

[0093]

[0094] E. Design of the second static event trigger

[0095] Control input τ ν is the input signal of the second static event trigger; the control input τ after triggering νc It is the output signal of the second static event trigger.

[0096] The design event trigger mechanism is as follows:

[0097]

[0098] in is the measurement error; Trigger threshold for the event.

[0099] The working process of the present invention is as follows: at time t, the actual position and pitch angle information η, speed information ν, and acceleration information k of the unmanned boat are sent to the first static event trigger. When the triggering condition is met, the first static event trigger sends the actual position and pitch angle information η of the unmanned boat after the triggering. c , speed information ν c , acceleration information kc The artificial unmanned boat system combines the control input τ after triggering νc And the actual unmanned boat position and bow angle information η after triggering c , speed information v c , acceleration information k c Generate the next moment's artificial unmanned boat system status information Total disturbance estimate of the system and the modeling error estimate The control input τ is fed into the parallel trajectory tracking dynamic controller ν When the trigger condition is met, the second static event trigger outputs the control input τ after the trigger νc The control input after the trigger τ νc The actual unmanned boat generates the next moment's unmanned boat state information η, ν, k driven by the actual controller and synchronizes the state with the artificial unmanned boat system, thus completing the control closed loop.

[0100] Example

[0101] A method for dynamic control of unmanned boat event-triggered parallel trajectory tracking is provided. At time t, the actual position and pitch angle information η, speed information ν, and acceleration information k of the unmanned boat are sent to a first static event trigger. When the triggering condition is met, the first static event trigger sends the actual position and pitch angle information η of the unmanned boat after the triggering. c , speed information ν c , acceleration information k c The artificial unmanned boat system combines the control input τ after triggering νc And the actual unmanned boat position and bow angle information η after triggering c , speed information v c , acceleration information k c Generate the next moment's artificial unmanned boat system status information Total disturbance estimate of the system and the modeling error estimate The control input τ is fed into the parallel trajectory tracking dynamic controller ν When the trigger condition is met, the second static event trigger outputs the control input τ after the trigger νc The control input after the trigger τ νc The actual unmanned boat generates the next moment's unmanned boat state information η, ν, k driven by the actual controller and synchronizes the state with the artificial unmanned boat system, thus completing the control closed loop.

[0102] γ1=γ2=diag{10,10,10}, γ3=diag{6,6,6}, γ4=0.05, γ5=25,ξ η =diag{0.25,0.15,0.05},

[0103] ξ ν =diag{0.5,0.5,0.5},ξ k =diag{0.39,0.06,0.06},ξ τ =diag{0.09,0.06,0.06}, T=2, δ=0.0001.

[0104] The simulation results are as follows Figure 2-8 shown. Figure 2 The trajectory tracking motion curve of the unmanned boat is shown. In the figure, the solid line represents the reference trajectory and the dotted line represents the actual trajectory. It can be seen from the simulation figure that the actual trajectory achieves tracking of the reference trajectory. Figure 3 The tracking error curve of the unmanned boat is given. It can be seen that after reaching a stable state, the heading, lateral and longitudinal tracking errors are maintained at a level close to zero. Figure 4 The control input curve of the unmanned boat is given.

[0105] Figure 5-8 The event triggering of position, heading, speed, control input and acceleration is shown. As can be seen from the figure, the triggering of events is non-periodic, and there are many moments when events are not triggered. This observation shows that the adopted method can effectively reduce the frequency of communication, thereby saving communication resources.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An unmanned boat event-triggered dynamic parallel trajectory tracking controller, used to control an actual unmanned boat system, characterized by: It includes an artificial unmanned boat system, a first static event trigger, a second static event trigger, a parallel trajectory tracking dynamic controller and an actual controller; The artificial unmanned boat system receives the triggered position and pitch angle information η sent by the first static event trigger c , speed information v c , acceleration information k c , the artificial unmanned boat system receives the triggered control input τ sent by the second static event trigger νc , the artificial unmanned boat system sends status information Total disturbance estimate of the system and the modeling error estimate to parallel trajectory tracking dynamic controller; The actual unmanned boat system receives the control input τ after triggering sent by the actual controller νc , the actual unmanned boat system sends the position and yaw angle information η, speed information v, and acceleration information k of the actual unmanned boat to the first static event trigger, and the actual unmanned boat system sends the position and yaw angle information η, and speed information v to the actual controller; The actual controller receives the position and pitch angle information η and speed information v sent by the actual unmanned boat system, and receives the triggered control input τ sent by the second static event trigger. νc , the actual controller sends the control input τ after triggering νc To the actual unmanned boat system; The parallel trajectory tracking dynamic controller receives a given time-varying trajectory η d , status information sent by the artificial unmanned boat system Total disturbance estimate of the system and the modeling error estimate The parallel trajectory tracking dynamic controller sends the control input τ ν To the second static event trigger; The first static event trigger receives the actual unmanned boat position and yaw angle information η, speed information v, and acceleration information k sent by the actual unmanned boat system, and the first static event trigger sends the triggered position and yaw angle information η c , speed information v c , acceleration information k c To manned unmanned boat systems; The second static event trigger receives the control input τ sent by the parallel trajectory tracking dynamic controller ν , the second static event trigger sends the control input τ after triggering νc To the actual controller, the second static event trigger sends the triggered control input τ νc To the manned unmanned boat system.

2. The unmanned boat event-triggered dynamic parallel trajectory tracking controller according to claim 1, characterized in that: Considering the three-degree-of-freedom maneuvering model of an actual unmanned boat, the kinematic and dynamic equations of the actual unmanned boat system are expressed as: where η = [x, y, ψ] T Indicates the position and pitch angle of the unmanned boat; ν=[u,v,r] T represents the angular velocity of the unmanned boat in the longitudinal, transverse and bow pitch; f(ν) = [f u ,f v ,f r ] T represents the unmodeled dynamics caused by centripetal force and damping force; represents the mass inertia matrix of the unmanned boat; τ ν =[τ u ,τ v ,τ r ] T represents the control input; τ ω =[τ ωu ,τ ωv ,τ ωr ] T represents external environmental disturbance; k = [k u ,k v ,k r ] T represents the acceleration information of the unmanned boat; R(ψ)=[cos(ψ),-sin(ψ),0;sin(ψ),cos(ψ),0;0,0,1] represents the rotation matrix; [·] T Represents the transpose of a vector.

3. The unmanned boat event-triggered dynamic parallel trajectory tracking controller according to claim 2, characterized in that: The design steps of the artificial unmanned boat system are as follows: Using Fourier series theorem and Taylor polynomial theorem to approximate the unknown total disturbance term, the dynamic model of the actual unmanned boat system is rewritten as: in, represents weight, σ=[σ u ,σ v ,σ r ] T represents the modeling error, M * is the nominal matrix of M, represents basis functions; The artificial unmanned boat system is designed as follows: in, are the observed values ​​of η, ν, σ, and W; is a positive definite coefficient matrix; is the adjustable gain; η c =[x c ,y c ,ψ c ] T , ν c =[u c ,v c ,r c ] T , k c =[k uc ,k vc ,k rc ] T They are the states after η, ν and k are triggered respectively.

4. The unmanned boat event-triggered dynamic parallel trajectory tracking controller according to claim 1, characterized in that: The triggering mechanism of the first static event trigger is as follows: in, Respectively represent the measurement errors of η, ν, and k; 0<ξ α <1, respectively represents the corresponding event triggering threshold; δ α is a small constant set; Indicates the next triggering moment. Indicates the last triggering time, set 5. The unmanned boat event-triggered dynamic parallel trajectory tracking controller according to claim 1, characterized in that: The parallel trajectory tracking dynamic controller design steps are as follows: First, the tracking error of the actual unmanned boat at time t, the tracking error of the artificial unmanned boat at time t, and the tracking error of the artificial unmanned boat at time t+T are defined as follows: The parallel trajectory tracking dynamic controller is designed as follows: Among them, the P matrix is:

6. The unmanned boat event-triggered dynamic parallel trajectory tracking controller according to claim 1, characterized in that: The triggering mechanism of the second static event trigger is as follows: in, is the measurement error; Trigger threshold for the event.

7. An unmanned boat event-triggered dynamic parallel trajectory tracking control method, implemented based on the unmanned boat event-triggered dynamic parallel trajectory tracking controller described in any one of claims 1 to 6, characterized in that: The steps include: At time t, the actual unmanned boat sends its position and pitch angle information η, velocity information v, and acceleration information k to the first static event trigger; When the trigger condition is met, the first static event trigger will trigger the actual position and bow angle information of the unmanned boat after the triggering. c , speed information v c , acceleration information k c Send in the artificial unmanned boat system; The artificial unmanned boat system combines the control input τ after triggering νc And the actual unmanned boat position and bow angle information η after triggering c , speed information v c , acceleration information k c Generate the next moment's artificial unmanned boat system status information Total disturbance estimate of the system and the modeling error estimate The control input τ is fed into the parallel trajectory tracking dynamic controller v ; When the trigger condition is met, the second static event trigger outputs the triggered control input τ vc ; The control input after the trigger τ vc The data are sent to the actual controller and the artificial unmanned boat system respectively; The actual unmanned boat, driven by the actual controller, generates the unmanned boat state information η, ν, k at the next moment and synchronizes the state with the artificial unmanned boat system, thereby completing the control closed loop.

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