Trajectory Tracking Control for Underactuated USV with Prescribed Performance and Input Quantization

Abstract

This paper is devoted to the problem of prescribed performance trajectory tracking control for symmetrical underactuated unmanned surface vessels (USVs) in the presence of model uncertainties and input quantization. By combining backstepping filter mechanisms and adaptive algorithms, two robust control architectures are investigated for surge motion and yaw motion. To guarantee the prespecified performance requirements for position tracking control, the constrained error dynamics are transformed to unconstrained ones by virtue of a tangent-type nonlinear mapping function. On the other hand, the inaccurate model can be identified through radial basis neural networks (RBFNNs), where the minimum learning parameter (MLP) algorithm is employed with a low computational complexity. Furthermore, quantization errors can be effectively reduced even when the parameters of the quantizer remain unavailable to designers. Finally, the effectiveness of the proposed controllers is verified via theoretical analyses and numerical simulations.

Keywords

• underactuated USV
• prescribed performance control
• input quantization
• model-free control
• minimum learning parameter