Cooperative Fuzzy Event-Based Tracking Control of Heterogeneous Multiple Marine Vehicles With a Nonautonomous Leader

This article addresses the cooperative tracking control problem for heterogeneous multiple marine vehicles with a nonautonomous leader. A fully distributed smooth observer is proposed to estimate the trajectory of the leader, mitigating the influence of its control input. Based on the observer, three decentralized adaptive fuzzy event-based controllers are designed with distinct triggering strategies, i.e., fixed, relative, and switching threshold triggering strategies, which utilize fuzzy-logic systems and event-triggering mechanisms to address the challenge of model uncertainties and communication constraints of marine vehicles. The proposed methods ensure the zero-error tracking without Zeno behavior, as demonstrated through Lyapunov analysis. Numerical simulations validate the effectiveness of the proposed approaches.