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.

在竞争场景中，为了有效利用资源和电池电量，必须最大限度地减少通信和控制更新。在这项工作中，提出了一种具有线性变化事件阈值的事件触发耦合控制器，用于 USV 的设定点跟踪，该控制器借助经典控制框架中的简单交互式控制循环来优化资源利用。使用微分进化（DE）算法优化耦合控制器的增益。本研究分析了各类事件阈值对触发时刻数量的影响，并提出了线性事件阈值（LET）以减少控制触发器的数量。此外，将不同事件触发控制情况下的USV与没有事件触发控制的USV的能耗相对百分比差异进行比较。仿真结果证实了线性事件触发控制在显着减少控制更新方面的优越性，并且在不影响稳定性的情况下在设定点跟踪方面具有令人满意的性能。