Fuzzy Trajectory Tracking Control of Under-Actuated Unmanned Surface Vehicles With Ocean Current and Input Quantization

Abstract

This article focuses on the trajectory tracking control of under-actuated unmanned surface vehicles subject to unknown ocean current and input quantization. Regarding kinematics, we devise an extended-state-observer-based guidance law capable of compensating for ocean currents to track the intended trajectory. Concerning kinetics, we propose an event-triggered adaptive fuzzy quantization control law using a linear analytical model to depict input quantization, eliminating the need for prior quantization parameter information. A notable aspect is the reduction in both execution frequency and magnitude, thereby mitigating communication burdens. The stability of this control strategy is proofed through input-to-state stability analysis. Simulation experiments are conducted to affirm the viability of the event-triggered adaptive fuzzy quantization control strategy.