Dual-Channel Event-Triggered Sliding-Mode Heading Control for Unmanned Surface Vehicles
Abstract
This paper presents a data-driven dual-channel event-triggered sliding-mode heading control approach for unmanned surface vehicles with uncertain dynamic models. First, a compact form dynamic linearization model is constructed using a pseudo-partial derivative technique, relying solely on the redefined output and input data and eliminating the need for an explicit system model. To reduce communication and energy consumption, a dual-channel event-triggered scheme is developed, consisting of a relative-threshold scheme for the control input channel and a dynamic-threshold scheme for the output feedback channel. Furthermore, a second-order switching surface incorporating a fast terminal-sliding function is introduced to ensure finite-time convergence and enhanced robustness. Finally, rigorous mathematical proofs are provided, and several simulations are conducted to validate the effectiveness of the proposed method.
Fields of Study & Subjects
Adaptive Control of Nonlinear Systems
Stability and Control of Uncertain Systems
Distributed Control Multi-Agent Systems
Publication details
- Journal / source
- IEEE Transactions on Vehicular Technology
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Volume
- 75
- Issue
- 7
- Pages
- 12749–12758
- Publication date
- 14 January 2026
- Language
- EN