Approximation-free design for distributed formation tracking of networked uncertain underactuated surface vessels under fully quantized environment

Distributed formation tracking results have been studied in the literature for networked underactuated surface vessels (NUSVs) at dynamic level. The distributed tracker design of NUSVs under a fully quantized environment remains an open problem. This paper provides solution to this problem low-complexity control framework that ensures prescribed performance without help any adaptive approximation tools. State variables and inputs followers are communicated directed network. controllers using state feedback signals constructed NUSV followers. conditions lead establishing local errors presence input quantization newly derived via errors. It is shown from recursive analysis closed-loop although all states position information network quantized, presented system ensured.