Cooperative Adaptive Tracking Control Based on Quantized States for Multiple Surface Vessels

The cooperative adaptive tracking control based on full states quantization is investigated in this paper for multiple uncertain surface vessel systems. Firstly, an uncertain surface vessel system model based on disturbance accelerations is presented. Next, using the quantized system states, a series of cooperative tracking controllers and adaptive laws are constructed such that the closed-loop system of every follower is practically stable and the tracking error between every follower and the leader can be adjusted arbitrarily small by parameter adjustment technique. Finally, a simulation example is given to verify the effectiveness of the proposed control strategy.