Robust composite event-triggered control for heterogeneous ships: Application to an auto-detecting operation

In this paper, a composite event-triggered control algorithm based on hysteresis quantizer is proposed, which not only effectively controls the position and speed consistency of the real ship and the virtual ship, but also effectively reduces the occupation of communication resources within the ships. By the improved L2 virtual ship (L2-VS) guidance method combining leader-following guidance principle and artificial potential field (APF), the special guidance task requirement of that heterogeneous ship formation detecting trespass ship with time-varying formation is satisfied. Furthermore, to address system model uncertainties, neural network approximation is employed, while supplementary adaptive compensation mechanisms effectively mitigate adverse effects arising from quantization processes and parametric uncertainties. On the basis of Lyapunov analysis, all the signals of the closed-loop control system are guaranteed to be semi-globally uniformly ultimately bounded (SGUUB). Finally, the algorithm is validated in the specific maritime application of detection and reformation for a heterogeneous ship formation and the results demonstrate its effectiveness.