Dynamic positioning ship adaptive backstepping sliding mode control based on dynamic event-triggered

In order to solve the problems of low positioning accuracy, poor anti-interference performance and actuator wear due to the uncertainty of model parameters and unknown time-varying environmental interference in the control of Dynamic Positioning Vessel (DPV), an adaptive backstepping sliding mode control method based on a dynamic event triggering mechanism was proposed. Firstly, sliding mode control is combined with backstepping technology to ensure the robustness of the system to uncertainty and interference. At the same time, the adaptive law is used to estimate the unknown uncertainty term. Based on this, an adaptive backstepping sliding mode control controller is designed. Finally, a dynamic event-triggered mechanism is designed to reduce the frequency of actuator update, thereby reducing unnecessary wear and tear. In order to verify the effectiveness and stability of the proposed control method, the Lyapunov stability theory method is used to prove that all signals in the system are uniformly and ultimately bounded, and Zeno phenomenon can be effectively avoided. The simulation results further verify the superior performance and wide application prospect of the proposed control method in DPV control system.