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Event-triggered optimal line-of-sight formation control for underactuated USVs with unknown disturbance
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DOI：10.1016/j.isatra.2026.04.038.png)
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Abstract
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• Two-stage IAC–RL embeds optimal policy in both LOS and dynamics layers. • Unified ETM on total control vector norm enforces synchronous channel updates. • Trigger count equals actuator action count, achieving genuine resource savings. • Inertia-matrix norm bounds reference signal within physically feasible range. • Channel-wise scaling balances thrust–moment scale disparity in triggering.
Keywords:
Event-triggered control
Underactuated USVs
Line-of-sight formation
Optimal policy
Unknown disturbance
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