Event-triggered predefined-time H∞ formation control for multiple underactuated surface vessels with error constraints and input quantization

Abstract

In this paper, an event-triggered predefined-time H∞ formation control strategy is proposed for multiple underactuated surface vessels (USVs) with error constraints and input quantization. A modified asymmetric barrier Lyapunov function (MABLF) is employed to constrain the tracking errors to a predefined range. Both event-triggered and input quantization are simultaneously employed to guarantee that the controller achieves satisfactory performance even with a limited network bandwidth. H∞ control is introduced to ensure that the system L2 gain is less than or equal to a given ς, which effectively improves the robustness to the lumped disturbance. Theorem analysis shows that the proposed controller guarantees that the tracking errors of the system converge to an arbitrarily small region in a predefined time. The effectiveness of the proposed controller is confirmed by simulation examples and comparisons.