Disturbance observer based adaptive heading control for unmanned marine vehicles with event-triggered and input quantization

Abstract

The primary objective of this paper is to enhance the efficient utilization of communication resources. To achieve this, the paper delves into the disturbance observer based adaptive heading control strategy for Unmanned Marine Vehicles with event-triggered and input quantization. Furthermore, in order to mitigate the impact of slow time-varying external disturbances within the control system, the disturbance observer is employed for estimation. Within the context of a networked control, control input is subjected to quantization via an input quantizer, and the process of input quantization is described by using a linear analytical model. Importantly, no foreknowledge of quantization parameters is necessary for the quantized feedback controllers. Subsequently, the sliding mode control method is combined with event-triggered mechanismss to design quantization feedback control system. The stability of the closed-loop system is established in line with the fundamental tenets of Lyapunov stability theory, validating the bounded nature of both observation and heading tracking control errors. The effectiveness of the proposed heading control scheme is further underscored through a series of simulation experiments.