Adaptive path-following control for underactuated ships with quantized input

This paper presents an input quantization control method for underactuated surface vehicel(USV). The neural network adaptive control algorithm with quantized input signal effectively reduces the occupation of communication resources and the unduly execution of actuators. Two different adaptive parameters are designed to deal with the model inconsistency caused by ships and the signal transition caused by hysteresis quantizer respectively. On the basis of Lyapunov analysis, all the signals of the closed-loop control system are guaranteed to be semi-global uniform ultimate bounded (SGUUB). Finally, the validity of the proposed algorithm is verified by numerical simulation for the predetermined ocean trajectory of the real ship.