Robust trajectory tracking with adjustable performance of underactuated surface vessels via quantized state feedback

Abstract

This paper investigates a robust quantized state feedback tracking problem with preselected performance of uncertain underactuated surface vessels (USVs) with state and input quantization under a band-limited network. With the feedback of all quantized states and control inputs, a preselected-performance-based tracking strategy using quantized states is proposed to achieve robust tracking that does not require any knowledge of the USV dynamics and function approximators. Design conditions of performance functions are introduced to ensure the stability of the closed-loop system using quantized feedback. In the Lyapunov sense, it is analyzed that all error surfaces remain within the preselected performance functions for all time. Finally, some convincing simulation comparison results are provided to illustrate the theoretical results.