Heading Tracking Control of Sensor Network-Based Unmanned Surface Vessels: Event-Triggered Set-Membership Estimation Approach

Abstract

This article is focused on the heading tracking control (HTC) issue for a class of bandwidth-limited network-based unmanned surface vessel (USV) system, where the unknown-but-bounded (UBB) noise model is employed to portray the characteristics of the wave-induced disturbances. With the purpose of allocating network bandwidth effectively and utilizing communication resources rationally, the encoding–decoding mechanism and event-triggered strategy are put forward to schedule data transmission through a bit rate constrained channel. This work aims to propose a set-membership (SM) control scheme including SM filter and SM controller, such that the state estimation of USV remains within the allowable ellipsoidal set, and this ellipsoidal set is then used in SM controller to produce control input to track the reference. Based on the mathematical induction and the S-procedure, a set of sufficient conditions is derived for the addressed USV system satisfying the modified SM performance constraint. In turn, the filter gains can be obtained via solving an optimization problem subject to ellipsoidal constraint. In the end, a simulation example is conducted to verify the availability and feasibility of the proposed control scheme.