Under-actuated unmanned ship dynamic event trigger trajectory tracking control method and system

Abstract

The invention provides an under-actuated unmanned ship dynamic event triggering trajectory tracking control method and system, and belongs to the technical field of trajectory tracking. The method comprises the following steps: constructing a kinematics model and a dynamics model of the underactuated unmanned ship by acquiring motion data of the underactuated unmanned ship; establishing an event triggering state expansion observer based on the kinematic model and the dynamic model; utilizing an event triggering state extension observer to observe an error trajectory of the underactuated unmanned ship under an event triggering condition; establishing a dynamic event trigger controller of the system, designing a virtual control function based on an error trajectory, and solving the virtual control function by using an uncertain adaptive law to obtain optimal longitudinal thrust and steering torque; and the dynamic event trigger controller controls the tracking motion of the under-actuated unmanned ship by outputting the optimal longitudinal thrust and steering torque. According to the invention, stable tracking control of the underactuated unmanned ship can be realized on the basis of ensuring that the number of working times of the actuator is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of trajectory tracking, and in particular relates to a trajectory tracking control method and system triggered by a dynamic event of an underactuated unmanned boat. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] In recent years, as the marine industry accelerates its development towards deep sea and offshore, underactuated unmanned boats have attracted great interest from the control science community due to their simple control structure and low manufacturing cost. In terms of application, underactuated unmanned boats have been used in a variety of occasions, such as seabed resource mining, water depth measurement, marine search and rescue, marine survey, sampling and patrolling. However, the existing underactuated unmanned boat trajectory tracking control method still has some technical problems, such as: (1) Due to the complexity of the marine environment and the existence of unmodeled dynamics in the mathematical model of the unmanned vehicle, the maneuverability of the unmanned vehicle will be reduced, and even the system will be unstable. In practical applications, the complexity of the marine environment and the strong coupling and modeling uncertainty in the mathematical model of the underactuated unmanned vehicle will lead to the reduction of the control performance of the underactuated unmanned vehicle and even lead to system instability.

[0004] (2) In existing trajectory tracking control methods for underactuated unmanned vehicles, real-time transmission of command signals from the controller to the actuator may lead to unnecessary communication burden and excessive wear of the actuator.

[0005] Given these challenges, further research on UUVs and their integration into marine engineering are critical. Summary of the invention

[0006] In order to overcome the deficiencies of the above-mentioned prior art, the present invention provides a dynamic event-triggered trajectory tracking control method and system for an under-actuated unmanned boat, which can achieve stable tracking control of the under-actuated unmanned boat while ensuring that the number of actuator working times is reduced.

[0007] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions: A first aspect of the present invention provides a dynamic event-triggered trajectory tracking control method for an underactuated unmanned vehicle.

[0008] A dynamic event-triggered trajectory tracking control method for an underactuated unmanned boat, comprising: Obtain the motion data of the underactuated unmanned boat and build the kinematic model and dynamic model of the underactuated unmanned boat; An event-triggered state extended observer is established based on the kinematic model and dynamic model of the underactuated unmanned vehicle. Given the desired heading and defining the tracking error, the event-triggered state extended observer is used to observe the error trajectory of the underactuated unmanned vehicle under event-triggered conditions. A dynamic event-triggered controller for the system is established, and a virtual control function is designed based on the error trajectory. The virtual control function is solved using the adaptive law of uncertainty to obtain the optimal longitudinal thrust and steering torque. The dynamic event-triggered controller controls the tracking motion of the under-actuated unmanned boat by outputting the optimal longitudinal thrust and steering torque.

[0009] Furthermore, when establishing the event-triggered state extended observer, the composite disturbance vector is time-varying and unknown.

[0010] Furthermore, the earth coordinate system and body coordinate system are used to describe the kinematic model of the underactuated unmanned vehicle.

[0011] Furthermore, the error factors considered in the tracking error include: longitudinal position error, lateral position error and heading angle error of the under-actuated unmanned vehicle.

[0012] Furthermore, when solving the virtual control function using the adaptive law of uncertainty, a dynamic event triggering mechanism is introduced so that the dynamic event triggered control law is updated only at the triggering moment.

[0013] Furthermore, Lyapunov theory is used to verify whether the tracking error converges to a small neighborhood of the origin.

[0014] Furthermore, the uncertainty corresponding to the adaptation rate includes unmodeled dynamic uncertainty and external environmental interference uncertainty.

[0015] A second aspect of the present invention provides a dynamic event-triggered trajectory tracking control system for an underactuated unmanned boat.

[0016] A dynamic event-triggered trajectory tracking control system for an underactuated unmanned boat, comprising: The model building module is configured to: obtain motion data of the underactuated unmanned boat, and build a kinematic model and a dynamic model of the underactuated unmanned boat; The observer building module is configured to: establish an event-triggered state extended observer based on the kinematic model and dynamic model of the underactuated unmanned vehicle; The error trajectory calculation module is configured to: given a desired heading and defining a tracking error, use an event-triggered state extended observer to observe the error trajectory of the underactuated unmanned vehicle under event-triggered conditions; The tracking control module is configured to: establish a dynamic event-triggered controller for the system, use the adaptive law of uncertainty to solve the virtual control function, and obtain the optimal longitudinal thrust and steering torque. The dynamic event-triggered controller controls the tracking motion of the under-actuated unmanned boat by outputting the optimal longitudinal thrust and steering torque. A third aspect of the present invention provides a computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps in a dynamic event-triggered trajectory tracking control method for an under-actuated unmanned boat as described in the first aspect of the present invention.

[0017] The fourth aspect of the present invention provides an electronic device, including a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, the steps in the dynamic event-triggered trajectory tracking control method for an under-actuated unmanned boat as described in the first aspect of the present invention are implemented.

[0018] One or more of the above technical solutions have the following beneficial effects: (1) The present invention establishes an event-triggered state extended observer based on the kinematic model and dynamic model of the underactuated unmanned boat, and uses the event-triggered state extended observer to observe the error trajectory of the underactuated unmanned boat under event-triggered conditions; then, a virtual control function is designed based on the error trajectory, and the virtual control function is solved using the adaptive law of uncertainty to obtain the optimal longitudinal thrust and steering torque. The present invention comprehensively considers various uncertain factors that the underactuated unmanned boat may be subject to during actual tracking control, such as the error uncertainty of the model and the uncertainty of unknown forces formed in the marine environment. Therefore, the present invention can effectively improve the stability of the system and achieve stable tracking control of the underactuated unmanned boat.

[0019] (2) The present invention uses the adaptive law of uncertainty to solve the virtual control function and introduces a dynamic event triggering mechanism so that the dynamic event triggering control law is updated only at the triggering moment. Therefore, the present invention can effectively reduce the communication frequency between the controller and the actuator, thereby preventing the controller from transmitting command signals to the actuator in real time, resulting in unnecessary communication burden and excessive wear of the actuator.

[0020] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0022] Figure 1The present invention is a flowchart of a method for controlling a trajectory tracking triggered by a dynamic event of an underactuated unmanned boat in a first embodiment of the present invention.

[0023] Figure 2 Schematic diagram of trajectory tracking of an underactuated unmanned boat in Embodiment 1 of the present invention. DETAILED DESCRIPTION

[0024] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0025] It should be noted that the terms used herein are for describing specific embodiments only and are not intended to be limiting of exemplary embodiments according to the present invention.

[0026] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0027] Embodiment 1 This embodiment discloses a dynamic event-triggered trajectory tracking control method for an underactuated unmanned boat.

[0028] like Figure 1 As shown, a dynamic event-triggered trajectory tracking control method for an underactuated unmanned boat comprises: Step S1, obtaining motion data of the underactuated unmanned boat, and constructing a kinematic model and a dynamic model of the underactuated unmanned boat; Step S2, establishing an event-triggered state extended observer based on the kinematic model and dynamic model of the underactuated unmanned vehicle; Step S3, given the desired heading and defining the tracking error, using the event-triggered state extended observer to observe the error trajectory of the underactuated unmanned vehicle under the event-triggered condition; Step S4, establish a dynamic event triggered controller of the system, design a virtual control function based on the error trajectory, use the adaptive law of uncertainty to solve the virtual control function, and obtain the optimal longitudinal thrust and steering torque. The dynamic event triggered controller controls the tracking motion of the under-actuated unmanned boat by outputting the optimal longitudinal thrust and steering torque.

[0029] Based on the above method, the present invention can realize stable tracking control of the underactuated unmanned boat on the basis of ensuring the reduction of the number of actuator working times. In order to facilitate the understanding of the technical solution of the present invention, the specific implementation methods of the above steps of the present invention are further explained and illustrated, specifically: Step S1, obtaining motion data of the underactuated unmanned boat, and constructing a kinematic model and a dynamic model of the underactuated unmanned boat.

[0030] Mathematical modeling of underactuated unmanned vehicles is crucial for analyzing their motion dynamics. In recent studies, the Fossen model has been widely used for trajectory tracking control of underactuated unmanned vehicles. In the Fossen model, the longitudinal thrust and steering torque of the underactuated unmanned vehicle (USV) are used as control outputs to regulate the motion of the underactuated unmanned vehicle. On this basis, the kinematic and dynamic models of the USV are mathematically expressed as follows: ; in, Represents the propulsion, lateral displacement and yaw angle of the ship in the inertial coordinate system; As η The derivative of represents the velocity vector of the underactuated unmanned vehicle in the hull coordinate system. Represents the velocity vector of the ship in the hull fixed coordinate system; is the forward speed of the ship in the attached coordinate system, is the drift speed in the attached body coordinate system, is the bow angular velocity in the appendage coordinate system. Represents the transformation matrix between the inertial coordinate system and the hull fixed coordinate system, satisfying . represents the inertia matrix of the ship, represents the Coriolis and centripetal matrices; represents the damping matrix. are the control forces and torque vectors of the underactuated ship; where and denote the longitudinal thrust and steering moment, respectively. For an underdriven ship, there is no transverse thruster, so represents the unknown external time-varying disturbance in the ship-fixed coordinate system. , , and The expression is as follows: ; in, represents the mass coefficient of the underactuated unmanned vehicle under the hull coordinate system during the sloshing acceleration, and ; represents the mass coefficient of the underactuated unmanned vehicle under the sway acceleration in the hull coordinate system, and ; represents the mass coefficient of the bow angular acceleration of the underactuated unmanned vehicle in the hull coordinate system, and ; represents the longitudinal linear damping coefficient due to longitudinal acceleration, and ; represents the transverse linear damping coefficient due to the transverse velocity of the ship, and ; represents the linear damping coefficient of heading due to angular velocity, and . represents the mass of the underdriven vessel, is the ship's moment of inertia, represents the hydrodynamic derivative.

[0031] Furthermore, this embodiment uses the earth coordinate system and the body coordinate system to describe the kinematic model of the underactuated unmanned vehicle. Specifically, the kinematic models in the two coordinate systems are as follows: ; , and Defined in In the coordinate system. Among them, and They represent the lateral and longitudinal positions of the USV in the geodetic coordinate system respectively; As x The derivative of represents the forward speed of the USV in the geodetic coordinate system; As y The derivative of represents the lateral drift speed of the USV in the geodetic coordinate system. represents the yaw angle, As The derivative of represents the bow speed of USV in the earth coordinate system. , , Respectively expressed in The surge speed, sway speed and pitch speed in the coordinate system.

[0032] The dynamic model in the two coordinate systems is as follows: ; in, , and They represent the modeling uncertainty of the acceleration of the system in the surge, sway and pitch directions respectively; , and They respectively represent the unknown forces in the external environment where the system has accelerations in the surge, sway and pitch directions.

[0033] Step S2: establishing an event-triggered state extended observer based on the kinematic model and dynamic model of the underactuated unmanned vehicle.

[0034] It is difficult to directly measure the velocity vector of an underactuated unmanned vehicle during its navigation, but its velocity vector can be obtained through an extended observer. Usually, data exchange of underactuated unmanned vehicles is carried out through a wireless communication network, which involves connecting system components such as sensors, controllers, filters, and actuator networks through communication. The controller is located on a remote mothership or land base station; the most important thing is to reduce computing costs and save communication resources to achieve adequate control.

[0035] Therefore, assuming that the state of the system is unknown, this embodiment uses the following event-triggered state observer for observation: ; make , .in, represents the rotation matrix, represents the derivative of the rotation matrix; represents the acceleration in the surge, sway and pitch directions. Therefore, the dynamic model of the underactuated unmanned vehicle (USV) can be expressed as: ; in, represents the concentrated uncertainty, including unmodeled dynamics and external disturbances. Specifically, the external disturbance is the uncertainty of unknown forces that may be generated in the marine environment; therefore, the present invention can effectively improve the stability of the system and achieve stable tracking control of the underactuated unmanned boat. Composite disturbance vector is time-varying and unknown, and its Euclidean norm is constrained by a constant, namely ;in, is a constant. In addition, the concentration uncertainty satisfy ;in, is an unknown bounded constant.

[0036] Furthermore, the event-triggered observer is designed as follows: ; in, , and They are , and The estimated value of . is a high gain parameter that needs to be determined. Function ( ) is defined as follows: .

[0037] Only ensure that the matrix is Hurwitz's constant to ensure ETESO convergence; the matrix It is expressed as: ; at the same time, Defined as: ; in, represents a piecewise function. Further, represents the measured output position of the ship and is defined as: .

[0038] The event triggering condition is given by the following formula: .in, is a positive constant to be determined, and yes The Lipschitz constant. represents the sampling error, and , .in, Indicates the trigger moment. Indicates the condition for event triggering. In this embodiment, the sum of the errors is used as the event triggering condition.

[0039] Step S3: Given a desired heading and defining a tracking error, an event-triggered state extended observer is used to observe the error trajectory of the underactuated unmanned vehicle under event-triggered conditions.

[0040] For a given sliding reference trajectory , define the following tracking error: ; in, Indicates the position of USV in the geodetic coordinate system, Indicates the heading angle of the ship. , and They represent the longitudinal position error, lateral position error and heading angle error respectively. In addition, ;in, and denote the vertical and horizontal position errors, respectively. These errors correspond to the horizontal and vertical coordinates of the reference trajectory. The following equation describes the desired heading: ; in, represents the desired heading trajectory; and They represent the lateral and longitudinal velocities of the target trajectory in the geodetic coordinate system respectively.

[0041] like Figure 2 As shown, the coordinate system represents the inertial reference frame. is the initial position, The axis points due north, and The axis points due west; point is defined as the midpoint between the bow and stern of the USV. points to the bow along the centerline of the USV, and the vector Then along the port side of USV; line segment AB represents the reference trajectory.

[0042] Step S4, establish a dynamic event triggered controller of the system, design a virtual control function based on the error trajectory, use the adaptive law of uncertainty to solve the virtual control function, and obtain the optimal longitudinal thrust and steering torque. The dynamic event triggered controller controls the tracking motion of the under-actuated unmanned boat by outputting the optimal longitudinal thrust and steering torque.

[0043] Step S4-1: According to Figure 2 The relationship shown in , and It can be expressed as follows: ; in, is an intermediate variable used to characterize variables and The change of variables and Taking the time derivative, the following equation can be derived: ; in, represents the lateral acceleration of the target trajectory, represents the heading angle error, represents the changing law of heading angle error, Represents the law of change of the expected heading angle.

[0044] Step S4-2: Design virtual control function and as follows: ; in, , , , ,and is a design parameter. It should be noted that when hour, Therefore, in practical engineering, the first assumption is the condition This assumption is guaranteed by the following equation transformation: ; Step S4-3: In order to prevent dimensionality explosion, a first-order filter is introduced, namely: ; in, Represents the estimated value of the first-order filter for the input filtered value, Represents the estimate of the first-order filter's input derivative; represents the time constant; α represents the input of the first-order filter, Represents the initial estimate of the first-order filter for the input filtered value, Represents the initial value of the input to the first-order filter.

[0045] ; in, Represents the virtual controller function after filtering with a first-order filter , Represents the virtual controller function after filtering with a first-order filter , Indicates actual u and filtered with a first-order filter The error between Indicates actual r and filtered with a first-order filter The error between .

[0046] The INTSM surfaces for longitudinal error and yaw rate error are introduced, namely: ; Given , and As a design constant, continue to Differentiate to obtain: ; Propulsion motion control law and yaw motion control law Can be designed as: ; in, , and Respectively represent ETESO u , v and rAn estimated value of Representation parameters The adaptation rate.

[0047] ; in, , , , All are normal numbers; and Respectively express and The corresponding adaptive law is given in the equation, namely: ; Therefore, the adaptive law of the uncertainty of the underactuated unmanned vehicle (USV) model is defined as follows: ; Step S4-4: Introduce a dynamic event trigger control scheme. Specifically, first define the dynamic event trigger control law for Obviously, Only at the triggering moment To update; among them, On this basis, the measurement error is defined as z ( t )for: ; Furthermore, the dynamic event triggering mechanism is designed as follows: ; in, is an internal dynamic variable that satisfies the following conditions, namely: ; Obviously, the inequality Now we will prove that Indeed, specific, based on The definition of For all . Therefore, for all , It can be further deduced as Then, by comparing the lemma, we can conclude that for all , .

[0048] Step S4-4: Use Lyapunov theory to verify whether the tracking error converges within a small neighborhood of the origin. The Lyapunov function is expressed as follows: ; Based on the Lyapunov function, it can be proved that the states of the system are consistent and ultimately bounded. Since proving the consistency and boundedness of the state of the system based on the Lyapunov function is not the main technical point of the present invention, it will not be elaborated here.

[0049] Furthermore, the USV model parameters used in the specific implementation process of this embodiment are shown in Table 1: Table 1 USV model parameters

[0050] Table 2 Parameters in the control scheme

[0051] It can be seen from Table 1 that the internal disturbance and external disturbance of the system are , , , .

[0052] At the same time, the predetermined trajectory of the USV set in the specific implementation process of this embodiment is the instantaneous trajectory .

[0053] This embodiment simulates a trajectory tracking problem of an underactuated unmanned vehicle (USV) under dynamic uncertainty and unknown environmental disturbance based on the USV model parameters in Table 1 and the time-varying trajectory given above. In the control design, the speed of the ETESO measurement system can accurately estimate the unmeasurable speed and convergence disturbance. In order to improve the robustness of the control system, a multi-layer perceptron (MLP) neural network is used to approximate and compensate for the uncertainty of the model. In addition, based on the backstepping method, the INTSM method is combined with the DETM. This scheme not only inherits the advantages of traditional sliding mode control and neural network control, but also further reduces the occupation of communication resources by introducing a dynamic event triggering mechanism. In addition, the stability of the closed-loop control system is strictly guaranteed by using the Lyapunov theory, and it has been proved that the tracking error converges to a small neighborhood of the origin.

[0054] It can be seen that the present invention takes into account the complex external environment, unknown dynamic parameters, unnecessary communication burden of the actuator and excessive wear of the actuator, and can achieve stable tracking control of the under-actuated unmanned boat while ensuring that the number of actuator working times is reduced.

[0055] Embodiment 2 This embodiment discloses a dynamic event-triggered trajectory tracking control system for an under-actuated unmanned boat.

[0056] A dynamic event-triggered trajectory tracking control system for an underactuated unmanned boat, comprising: The model building module is configured to: obtain motion data of the underactuated unmanned boat, and build a kinematic model and a dynamic model of the underactuated unmanned boat; The observer building module is configured to: establish an event-triggered state extended observer based on the kinematic model and dynamic model of the underactuated unmanned vehicle; The error trajectory calculation module is configured to: given a desired heading and defining a tracking error, use an event-triggered state extended observer to observe the error trajectory of the underactuated unmanned vehicle under event-triggered conditions; The tracking control module is configured to: establish a dynamic event-triggered controller for the system, use the adaptive law of uncertainty to solve the virtual control function, and obtain the optimal longitudinal thrust and steering torque. The dynamic event-triggered controller controls the tracking motion of the under-actuated unmanned boat by outputting the optimal longitudinal thrust and steering torque. Embodiment 3 The purpose of this embodiment is to provide a computer-readable storage medium.

[0057] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps in a dynamic event-triggered trajectory tracking control method for an under-actuated unmanned boat as described in Embodiment 1 of the present disclosure.

[0058] Embodiment 4 The purpose of this embodiment is to provide an electronic device.

[0059] An electronic device includes a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, the steps in the dynamic event-triggered trajectory tracking control method for an under-actuated unmanned boat as described in the first embodiment of the present disclosure are implemented.

[0060] The steps involved in the apparatuses of the above embodiments 2, 3 and 4 correspond to the method embodiment 1, and the specific implementation methods can refer to the relevant description part of embodiment 1. The term "computer-readable storage medium" should be understood as a single medium or multiple media including one or more instruction sets; it should also be understood to include any medium that can store, encode or carry an instruction set for execution by a processor and enable the processor to execute any method in the present invention.

[0061] Those skilled in the art should understand that the modules or steps of the present invention described above can be implemented by a general-purpose computer device, or alternatively, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. The present invention is not limited to any specific combination of hardware and software.

[0062] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A dynamic event-triggered trajectory tracking control method for an underactuated unmanned boat, characterized in that: include: Obtain the motion data of the underactuated unmanned boat and build the kinematic model and dynamic model of the underactuated unmanned boat; An event-triggered state extended observer is established based on the kinematic model and dynamic model of the underactuated unmanned vehicle. Given the desired heading and defining the tracking error, the event-triggered state extended observer is used to observe the error trajectory of the underactuated unmanned vehicle under event-triggered conditions. A dynamic event-triggered controller for the system is established, and a virtual control function is designed based on the error trajectory. The virtual control function is solved using the adaptive law of uncertainty to obtain the optimal longitudinal thrust and steering torque. The dynamic event-triggered controller controls the tracking motion of the under-actuated unmanned boat by outputting the optimal longitudinal thrust and steering torque.

2. The method for controlling the trajectory tracking of an underactuated unmanned vehicle triggered by a dynamic event according to claim 1, characterized in that: When establishing the event-triggered state extended observer, the composite disturbance vector is time-varying and unknown.

3. The method for controlling a dynamic event-triggered trajectory tracking of an underactuated unmanned vehicle according to claim 1, characterized in that: The geodetic coordinate system and body-attached coordinate system are used to describe the kinematic model of the underactuated unmanned vehicle.

4. The method for controlling a dynamic event-triggered trajectory tracking of an underactuated unmanned vehicle according to claim 1, characterized in that: The error factors considered in the tracking error include: longitudinal position error, lateral position error and heading angle error of the underactuated unmanned vehicle.

5. The method for controlling the trajectory tracking of an underactuated unmanned vehicle triggered by a dynamic event according to claim 1, characterized in that: When solving the virtual control function using the adaptive law of uncertainty, a dynamic event triggering mechanism is introduced so that the dynamic event triggered control law is updated only at the triggering moment.

6. The method for controlling the trajectory tracking of an underactuated unmanned vehicle triggered by a dynamic event according to claim 1, characterized in that: Lyapunov theory is used to verify whether the tracking error converges to a small neighborhood of the origin.

7. The method for controlling the trajectory tracking of an underactuated unmanned vehicle triggered by a dynamic event according to claim 1, characterized in that: The uncertainty corresponding to the adaptation rate includes unmodeled dynamic uncertainty and external environmental interference uncertainty.

8. A dynamic event-triggered trajectory tracking control system for an underactuated unmanned boat, characterized in that: include: The model building module is configured to: obtain motion data of the underactuated unmanned boat, and build a kinematic model and a dynamic model of the underactuated unmanned boat; The observer building module is configured to: establish an event-triggered state extended observer based on the kinematic model and dynamic model of the underactuated unmanned vehicle; The error trajectory calculation module is configured to: given a desired heading and defining a tracking error, use an event-triggered state extended observer to observe the error trajectory of the underactuated unmanned vehicle under event-triggered conditions; The tracking control module is configured to: establish a dynamic event-triggered controller for the system, use the adaptive law of uncertainty to solve the virtual control function, and obtain the optimal longitudinal thrust and steering torque. The dynamic event-triggered controller controls the tracking motion of the under-actuated unmanned boat by outputting the optimal longitudinal thrust and steering torque.

9. A computer-readable storage medium having a program stored thereon, characterized in that: When the program is executed by a processor, the steps in the dynamic event triggered trajectory tracking control method for an under-actuated unmanned boat as described in any one of claims 1 to 7 are implemented.

10. An electronic device comprising a memory, a processor, and a program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps in the dynamic event triggered trajectory tracking control method of an under-actuated unmanned boat as described in any one of claims 1-7 are implemented.

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