Event-Triggered Prescribed Performance Control for Isoline Tracking of Unmanned Surface Vehicle

In complex and GPS-denied marine environments, unmanned surface vehicles (USVs) can encounter safety risks, leading to mission failure. Existing methods face numerous challenges in balancing tracking accuracy, obstacle avoidance safety, and resource efficiency under dynamic uncertainty. Previous trajectory tracking control methods lack adaptive safety constraints, while prescribed performance control (PPC) imposes strict initial state requirements and high communication overhead. Against these challenges, this paper proposes an event-triggered prescribed performance control framework to achieve safe and efficient isoline tracking for USVs. The approach enhances navigation safety while reducing computational and communication costs.