An unmanned surface vehicle event-triggered dynamic parallel trajectory tracking controller and method

Abstract

The application provides an unmanned ship event-triggered dynamic parallel trajectory tracking controller and method, the controller comprising 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 position and bow shake angle information, speed information and acceleration information after triggering sent by the first static event trigger, the artificial unmanned ship system receives control input sent by the second static event trigger after triggering, and the artificial unmanned ship system sends state information, system total disturbance estimation value and modeling error estimation value to the parallel trajectory tracking dynamic controller; the application 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, so that the stable output of the control signal is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned ship trajectory tracking control, in particular, especially relates to an unmanned ship event-triggered dynamic parallel trajectory tracking controller and method. BACKGROUND

[0002] Deep exploration, scientific development and rational utilization of the ocean have become a strategic focus for the development of countries. Unmanned ships are widely used and deployed in tasks such as ocean monitoring, ocean rescue, target search, environmental measurement, and military operations due to their small size, flexible operation, expandable functions, and low risk. One of the core problems faced by unmanned ships when performing tasks is to ensure that they can be accurately tracked and controlled. According to the different motion scenarios of unmanned ships, tracking control can be divided into trajectory tracking and path tracking. Among them, unmanned ship trajectory tracking is an important part of unmanned ship tracking control tasks. The goal is to enable the unmanned ship to accurately, stably, and autonomously navigate according to the predetermined time-varying reference trajectory, in order to achieve precise control of the motion state of the unmanned ship, complete complex tasks, or meet specific performance requirements.

[0003] In recent years, the field of unmanned ship 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 ship trajectory tracking control method based on online deep learning. This method trains an unmanned ship dynamic model based on the data collected by the current dynamic data set, providing a high-precision model for the design of the unmanned ship 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 disturbances based on a linear disturbance observer, which can effectively suppress environmental disturbances. By converting high-dimensional disturbance quantities into low-dimensional disturbance compensation control quantities through a low-dimensional optimization model, the computational load of the real-time control system is reduced, the control time is shortened, and the control real-time performance is improved. This method can achieve effective trajectory tracking control in complex sea conditions with strong external environmental disturbances.

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

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

[0006] Second, most existing unmanned ship trajectory tracking controllers are based on algebraic relationships, which determine the control signal by calculating the error between the current system state and the desired state. The rate of change or derivative information of the system state is not considered.

[0007] Third, the traditional trajectory tracking control strategy is usually designed based on the real ship state, but these methods often do not involve 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

[0008] Therefore, the purpose of the present application is to provide an unmanned ship event triggered dynamic parallel trajectory tracking controller and method to overcome the technical problems that the existing unmanned ship system does not consider non-periodic communication and system state information mutation.

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

[0010] An unmanned ship event triggered dynamic parallel trajectory tracking controller is used to control the actual unmanned ship system, characterized by comprising 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.

[0011] The artificial unmanned ship system receives the triggered position and yaw angle information η of the first static event trigger c , the speed information v c , the acceleration information k c , the artificial unmanned ship system receives the triggered control input τ of the second static event trigger νc , the artificial unmanned ship system sends the state information , the system total disturbance estimation value and the modeling error estimation value to the parallel trajectory tracking dynamic controller.

[0012] The actual unmanned ship system receives the triggered control input τ of the actual controller νc , the actual unmanned ship system sends the position and yaw angle information η, the speed information v and the acceleration information k of the actual unmanned ship to the first static event trigger, and the actual unmanned ship system sends the position and yaw angle information η and the speed information v to the actual controller.

[0013] The actual controller receives the position and yaw angle information η and the speed information v sent by the actual unmanned ship system, the actual controller receives the triggered control input τ of the second static event trigger νc , and the actual controller sends the triggered control input τ νc to the actual unmanned ship system.

[0014] The parallel trajectory tracking dynamic controller receives the given time-varying trajectory η d , the state information , the system total disturbance estimation value and modeling error estimates The parallel trajectory tracking dynamic controller sends a control input τ ν to the second static event trigger;

[0015] The first static event trigger receives the position and yaw angle information η, velocity information v, and acceleration information k of the actual USV sent by the actual USV system, and sends the triggered position and yaw angle information η c , velocity information v c , and acceleration information k c to the artificial USV system;

[0016] The second static event trigger receives the control input τ sent by the parallel trajectory tracking dynamic controller ν , and sends the triggered control input τ νc to the actual controller, and sends the triggered control input τ νc to the artificial USV system.

[0017] Further, considering the three-degree-of-freedom maneuvering model of the actual USV, the kinematics and dynamics equations of the actual USV system are represented as:

[0018]

[0019] where η = [x, y, ψ] T represents the position and yaw angle of the USV; v = [u, v, r] T represents the surge, sway, and yaw velocity of the USV; f(v) = [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 USV; τ ν = [τ u , τ v , τ r ] T represents the control input; τ ω = [τ ωu , τ ωv , τ ωr ] T represents the external environmental disturbance; k = [k u , k v , k r ] Trepresents the acceleration information of the unmanned surface vehicle; R(ψ) = [cos(ψ), -sin(ψ), 0; sin(ψ), cos(ψ), 0; 0, 0, 1] represents a rotation matrix; [·] T represents the transpose of a vector.

[0020] Further, the design steps of the artificial unmanned surface vehicle system are as follows:

[0021] The dynamics model of the actual unmanned surface vehicle system is rewritten as:

[0022]

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

[0024] represents a base function;

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

[0026]

[0027] wherein, is the observation value of η, ν, σ, W; is a positive definite coefficient matrix; is an 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 triggered by η, ν and k respectively.

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

[0029]

[0030] wherein, respectively represent the measurement errors of η, ν and k; 0 < ξ α<1, respectively, represent the corresponding event trigger threshold; delta α is a small constant set; represents the next trigger time, represents the last trigger time, set

[0031] Further, the parallel trajectory tracking dynamic controller design step is as follows:

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

[0033]

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

[0035]

[0036] Wherein, the P matrix is:

[0037]

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

[0039]

[0040] Wherein, is the measurement error; is the event trigger threshold.

[0041] The application also provides an unmanned ship event trigger dynamic parallel trajectory tracking control method, which is realized based on the above-mentioned any one unmanned ship event trigger dynamic parallel trajectory tracking controller, and includes the following steps:

[0042] At time t, the position and bow angle information of the actual unmanned ship, the speed information v, and the acceleration information k are sent to the first static event trigger;

[0043] When the trigger condition is met, the first static event trigger sends the triggered actual unmanned ship position and bow angle information c , speed information v c , and acceleration information k c to the artificial unmanned ship system;

[0044] The artificial unmanned ship system combines the triggered control input νc , and the triggered actual unmanned ship position and bow angle information c , speed information v c , and acceleration information k cGenerating next time artificial unmanned vehicle system state information System total disturbance estimation value And modeling error estimation value Send into parallel trajectory tracking dynamic controller generation control input τ v ;

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

[0046] The triggered control input τ vc Respectively sent to the actual controller and the artificial unmanned vehicle system;

[0047] The actual unmanned vehicle generates the next time unmanned vehicle state information η,ν,k under the drive of the actual controller, and synchronizes with the artificial unmanned vehicle system implementation state, thereby completing the control loop.

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

[0049] First, compared with the prior art of measuring unmanned vehicle motion control method by a large number of sensors, the present application requires fewer sensors. Only through the position state information output by the unmanned vehicle positioning system, the speed information of the unmanned vehicle and the total disturbance information it receives in the marine environment can be observed. This method is simple in structure, low in cost, and does not depend on sensors or accurate unmanned vehicle model, so it is easier to implement in marine engineering.

[0050] Second, compared with the prior art of unmanned vehicle trajectory tracking control method, the present application designs a dynamic controller, so that the controller and the controlled object tend to be consistent in mathematical expression. This method can determine the change of the control signal based on the current system state, so as to realize the stable output of the control signal.

[0051] Third, compared with the prior art of updating and calculating the state observer at fixed sampling period time points, the present application introduces an event trigger mechanism into the design of the controller, 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 communication, sampling calculation and actuator action. This design reduces the loss and calculation load of the system, and saves the limited processor resources of the unmanned vehicle.

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

[0053] In order to make the technical scheme of the embodiments of the present application or the prior art clearer, the accompanying drawings needed in the description of the embodiments or the prior art will be briefly introduced. Obviously, the accompanying drawings in the description are some embodiments of the present application, and all other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative effort shall fall within the protection scope of the present application.

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

[0055] Figure 2 is a schematic diagram of the trajectory tracking control performance of the unmanned ship of the present application.

[0056] Figure 3 is a trajectory tracking error curve diagram of the unmanned ship of the present application.

[0057] Figure 4 is a control input curve diagram of the unmanned ship of the present application.

[0058] Figure 5 is a sampling η triggered event diagram of the present application.

[0059] Figure 6 is a sampling ν triggered event diagram of the present application.

[0060] Figure 7 is a sampling k triggered event diagram of the present application.

[0061] Figure 8 is a control input τ triggered event diagram of the present application. v DETAILED DESCRIPTION

[0062] In order to make the technical scheme of the embodiments of the present application or the prior art clearer, the accompanying drawings needed in the description of the embodiments or the prior art will be briefly introduced. Obviously, the accompanying drawings in the description are some embodiments of the present application, and all other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative effort shall fall within the protection scope of the present application.

[0063] ​It is to be understood that the terminology "first", "second", and the like used in the specification and the claims of the application as well as the appended drawings is merely used for distinguishing between similar objects and does not necessarily imply a specific order or chronology. It is to be understood that the use of the term "act" in the description and the claims of the application has been replaced with the term "step" in order to comply with 35 U.S.C. § 101, which requires that an element be "patentable" in order to be patentable. It is further to be understood that the use of the term "include", and "have", along with their conjugates, the like, are used to indicate included elements, include processes, methods, systems, articles, or apparatuses including a series of steps or units such as in a

[0064] As shown in FIG. 1, the application provides an unmanned surface vehicle event-triggered dynamic parallel trajectory tracking controller, including an artificial unmanned surface vehicle system, an actual unmanned surface vehicle system, a first static event trigger, a second static event trigger, a parallel trajectory tracking dynamic controller, and an actual controller. Figure 1

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

[0066] The input end of the artificial unmanned surface vehicle 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 surface vehicle 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 surface vehicle and the output end of the second static event trigger, and the output end is connected to the input end of the actual unmanned surface vehicle 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 surface vehicle system, and the 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 surface vehicle system, and the output end is connected to the input end of the artificial unmanned surface vehicle 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 surface vehicle system.

[0067] A, actual unmanned surface vehicle system

[0068] Considering the three-degree-of-freedom maneuvering model of the actual unmanned surface vehicle, the kinematics and dynamics equations are expressed as:

[0069] ​

[0070] where η = [x, y, ψ] T represents the position and yaw angle of the USV; v = [u, v, r] T represents the surge, sway and yaw angular velocity of the USV; f(v) = [f u , f v , f r ] T represents the un-modeled dynamics caused by centripetal force, damping force, etc. represents the mass inertia matrix of the USV; τ ν = [τ u , τ v , τ r ] T represents the control input; τ ω = [τ ωu , τ ωv , τ ωr ] T represents the external environmental disturbance; k = [k u , k v , k r ] T represents the USV acceleration information; R(ψ) = [cos(ψ), -sin(ψ), 0; sin(ψ), cos(ψ), 0; 0, 0, 1] represents the rotation matrix; [·] T represents the transpose of the vector.

[0071] B. Artificial USV system design

[0072] The actual USV position and yaw angle information η c , velocity information v c , acceleration information k c and control input information τ νc after triggering as the input signals of the artificial USV system. The position and yaw angle information velocity information modeling error estimation information system total disturbance prediction value as the output signals of the artificial USV system.

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

[0074]

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

[0076]

[0077] Represents the basis functions.

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

[0079]

[0080] in, These are the observed values ​​of η, ν, σ, W; It is a positive definite coefficient matrix; It is an 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 These represent the states after η, υ, and k are triggered, respectively.

[0081] C. Design of the First Static Event Trigger

[0082] Given the actual unmanned surface vessel's position information η, velocity information ν, and acceleration information k as the input signals to the first static event trigger. The actual unmanned surface vessel's 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] The first static event trigger is designed as follows:

[0084]

[0085] in the formula These represent the measurement errors of η, ν, and k, respectively; 0 < ξ α <1, representing the corresponding event trigger threshold; δ α This is a small constant that is set. Indicates the next trigger time. Indicates the last triggered time, set

[0086] D. Parallel trajectory tracking dynamic controller design

[0087] Given time-varying trajectory η d = [x d (t), y d (t), ψ d (t)] T , position and yaw angle information of artificial unmanned surface vehicle system velocity information total disturbance estimation information and modeling error estimation information as the input signal of the parallel trajectory tracking dynamic controller. Control input τ ν as the output signal of the parallel trajectory tracking dynamic controller.

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

[0089]

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

[0091]

[0092] Wherein, the P matrix is:

[0093]

[0094] E. Second static event trigger design

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

[0096] The event triggering mechanism is designed as follows:

[0097]

[0098] Wherein, e is the measurement error; is the event triggering threshold.

[0099] The working process of the present application is as follows: at time t, the position and yaw angle information η of the actual unmanned surface vehicle, the velocity information v, and the acceleration information k are sent into the first static event trigger. When the triggering condition is met, the first static event trigger will trigger the position and yaw angle information η of the actual unmanned surface vehicle c , velocity information v c , and acceleration information kc The data is fed into the unmanned surface vessel (USV) system. The USV system then integrates the control input τ after triggering. νc And the actual unmanned surface vessel position and bow angle information η after triggering. c Speed ​​information v c Acceleration information k c Generate the status information of the unmanned surface vessel system at the next moment. Total system disturbance estimate and modeling error estimates The control input τ is generated by sending the parallel trajectory tracking dynamic controller. ν When the triggering condition is met, the second static event trigger outputs the control input τ after the trigger. νc The control input τ after the trigger. νc The data is sent to both the actual controller and the artificial unmanned surface vessel (USV) system. Under the control of the actual controller, the actual USV generates its state information η,ν,k for the next moment and synchronizes its state with that of the artificial USV system, thus completing the control loop.

[0100] Example

[0101] A method for dynamic control of parallel trajectory tracking of an unmanned surface vessel (USV) triggered by an event involves sending the actual USV's position, bow angle η, velocity ν, and acceleration k to a first static event trigger at time t. When the triggering condition is met, the first static event trigger transmits the triggered actual USV position and bow angle η... c Speed ​​information ν c Acceleration information k c The data is fed into the unmanned surface vessel (USV) system. The USV system then integrates the control input τ after triggering. νc And the actual unmanned surface vessel position and bow angle information η after triggering. c Speed ​​information v c Acceleration information k c Generate the status information of the unmanned surface vessel system at the next moment. Total system disturbance estimate and modeling error estimates The control input τ is generated by sending the parallel trajectory tracking dynamic controller. ν When the triggering condition is met, the second static event trigger outputs the control input τ after the trigger. νc The control input τ after the trigger. νc The data is sent to both the actual controller and the artificial unmanned surface vessel (USV) system. Under the control of the actual controller, the actual USV generates its state information η,ν,k for the next moment and synchronizes its state with that of the artificial USV system, thus completing the control 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] Simulation results are as follows Figures 2-8 As shown. Figure 2 The simulation results show the trajectory tracking motion curves of the unmanned surface vessel (USV). In the figure, solid lines represent the reference trajectory, and dashed lines represent the actual trajectory. The simulation results demonstrate that the actual trajectory successfully tracks the reference trajectory. Figure 3 The tracking error curve of the unmanned surface vessel is given. It can be seen that after reaching a steady state, the tracking errors in heading, lateral and longitudinal directions are all maintained at a level close to zero. Figure 4 The control input curves of the unmanned surface vessel are presented.

[0105] Figures 5-8 The graph illustrates the event triggering patterns for position, heading, speed, control input, and acceleration. As can be seen, event triggering exhibits a non-periodic pattern, with many moments where events are not triggered. This observation suggests that the proposed method effectively reduces communication frequency, thereby conserving communication resources.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions 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 surface vehicle event-triggered dynamic parallel path tracking controller for controlling an actual unmanned surface vehicle system, characterized in that: The artificial unmanned surface vehicle system, a first static event trigger, a second static event trigger, a parallel trajectory tracking dynamic controller and an actual controller are included. The artificial unmanned ship system receives the triggered position and yaw angle information sent by the first static event trigger , speed information , acceleration information The artificial unmanned ship system receives the triggered control input sent by the second static event trigger The artificial unmanned ship system sends state information , System total disturbance estimation value And modeling error estimation value To the parallel trajectory tracking dynamic controller The actual unmanned ship system receives the trigger after the control input sent by the actual controller The actual unmanned ship system sends the position and yaw angle information of the actual unmanned ship The actual unmanned ship system sends the speed information The actual unmanned ship system sends the acceleration information The actual unmanned ship system sends the position and yaw angle information to the first static event trigger The actual unmanned ship system sends the speed information The actual unmanned ship system sends the acceleration information to the actual controller The actual controller receives position and yaw angle information sent by the actual unmanned ship system , speed information The actual controller receives the triggered control input sent by the second static event trigger The actual controller sends the triggered control input to the actual unmanned ship system; The parallel trajectory tracking dynamic controller receives a given time-varying trajectory , state information transmitted by the artificial unmanned boat system , system total disturbance estimate , and modeling error estimate The parallel trajectory tracking dynamic controller transmits a control input to a second static event trigger; The parallel trajectory tracking dynamic controller is designed as follows: First, define the actual unmanned surface vessel (USV) in... Real-time tracking errors, and the role of unmanned surface vessels. The tracking error at any moment and the artificial unmanned surface vessel in The tracking error at each time point is shown below: The parallel trajectory tracking dynamic controller is designed as follows: wherein The matrix is: The first static event trigger receives position and yaw angle information of the actual unmanned ship system sent by the actual unmanned ship system , speed information , acceleration information , the first static event trigger sends the position and yaw angle information after triggering , speed information , acceleration information to the artificial unmanned ship system; The second static event trigger receives the control input sent by the parallel trajectory tracking dynamic controller The second static event trigger sends the triggered control input to the actual controller The second static event trigger sends the triggered control input to the actual controller The second static event trigger sends the triggered control input to the actual controller 2. The unmanned surface vehicle event-triggered dynamic parallel trajectory tracking controller of claim 1, wherein, Considering a three-degree-of-freedom maneuvering model of the actual unmanned surface vehicle, the kinematics and dynamics equations of the actual unmanned surface vehicle system are represented as: wherein, denotes the position and the yaw angle of the USV; denotes the surge, sway and yaw angular velocities of the USV; denotes the unmodeled dynamics due to centripetal and damping forces; denotes the mass inertia matrix of the USV; denotes the control input; denotes the external environmental disturbance; denotes the USV acceleration information; denotes the rotation matrix; denotes the transpose of a vector.

3. The USV event-triggered dynamic parallel path following controller of claim 2, wherein, The design steps of the artificial unmanned surface vehicle system are as follows: The dynamics model of the actual unmanned surface vehicle system is rewritten as follows by using Fourier series theorem and Taylor polynomial theorem to approximate unknown total disturbance terms: wherein, denotes a weight, denotes a modeling error, is a nominal matrix of represents a basis function; The artificial unmanned surface vehicle system is designed as follows: wherein , , , is an observation; is a positive definite coefficient matrix; is an adjustable gain; , , are the states after , and triggering, respectively.

4. The unmanned surface vehicle event-triggered dynamic parallel trajectory tracking controller of claim 1, wherein, The triggering mechanism of the first static event trigger is as follows: wherein, respectively represent , , measurement error of the , respectively represent the corresponding event trigger threshold; is a small constant set; represents the next trigger time, represents the last trigger time, set .

5. The unmanned surface vehicle event-triggered dynamic parallel trajectory tracking controller of claim 1, wherein, The triggering mechanism of the second static event trigger is as follows: wherein, is a measurement error; is an event trigger threshold.

6. An event-triggered dynamic parallel path tracking control method for an unmanned surface vehicle, implemented based on the event-triggered dynamic parallel path tracking controller of any one of claims 1-5, characterized in that, The steps are as follows: At the moment, the actual unmanned ship sends its position and yaw angle information , speed information , acceleration information into the first static event trigger; The first static event trigger sends the actual unmanned ship position and yaw angle information after triggering when the trigger condition is met , speed information , acceleration information to the artificial unmanned ship system; An artificial unmanned surface vehicle system incorporating triggered control inputs and actual unmanned surface vehicle position and yaw angle information after triggering , velocity information , acceleration information to generate next time artificial unmanned surface vehicle system state information , , system total disturbance estimate and modeling error estimate into a parallel trajectory tracking dynamic controller to generate control inputs ; second static event trigger output triggered control input when trigger condition is met ; The triggered control input to the actual controller and the artificial unmanned boat system, respectively; The actual unmanned vehicle generates next time unmanned vehicle state information under the drive of the actual controller and synchronizes with the artificial unmanned vehicle system implementation state, thereby completing the control loop.

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