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

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