Publication

Abstract : In a competitive scenario, to effectively utilise the resources and battery power, the communication and control update has to be minimised to a great extent. In this work, an event-triggered coupled controller with linearly varying event threshold is proposed for setpoint tracking of USV, which optimally utilises the resources with the help of a simple interactive control loop in a classical control framework. The gains of coupled controller are optimised using differential evolution (DE) algorithm. This research analyses the effect of various classes of event thresholds on the number of triggering instants and proposes a linear event threshold (LET) for a reduced number of control triggers. In addition, the relative percentage difference in energy consumption of the USV for different cases of event-triggered control are compared with that of the USV without event-triggered control. The simulation results establish the superiority of the linear event-triggered control in reducing the control update significantly with satisfactory performance in setpoint tracking without compromising stability.