Adaptive fuzzy event-triggered control for USV with unknown time delays: A fully actuated system approach

This paper addresses trajectory tracking for an unmanned surface vehicle (USV) with unknown time delays. The 3-DOF USV model is reformulated into a fully actuated system (FAS) model, which independently controls each degree of freedom, simplifying controller design and enhancing robustness compared to conventional state-space methods. The finite covering lemma and fuzzy logic systems are employed to handle unknown disturbances with time-varying delays, while the boundedness of unknown model parameters is exploited to mitigate their impact. An event-triggered control strategy is introduced to reduce control updates and improve resource utilisation. Simulation results validate the effectiveness of the proposed design.