A quantized set‐membership estimation‐based heading control method of unmanned surface vessels under unknown‐but‐bounded wave‐induced disturbances

Abstract

AbstractThis paper is concerned with the heading tracking control problem for a network‐based unmanned surface vessel (USV) under wave‐induced disturbances. Considering the characteristics of the wave‐induced disturbances, the unknown‐but‐bounded (UBB) noise model is adopted. Meanwhile, signal quantization is taken into account due to the limited capacity of the communication channel. Based on these considerations, a novel set‐membership based control scheme is proposed, which consists of a set‐membership filter (SMF) and a set‐membership controller (SMC). In the proposed control scheme, the SMF is designed for providing an ellipsoidal estimation set for the USV at each sampling step, and then the SMC uses the estimation set for producing control input for the USV in order to track the reference. Sufficient conditions are derived for the considered USV system to be asymptotically stable and satisfy the modified set‐membership performance constraint. Simulation results verifies the effectiveness of the proposed control scheme.