Containment Control based on Input and State Quantization for Multi-unmanned Surface Vehicle with Switching Topology

In this paper, a sliding mode control (SMC) method is designed for the containment control of multi-unmanned surface vehicle (USV) systems under input and state quantization communication. Firstly, the ideal trajectory of follower USVs is calculated from the trajectory of leader USVs based on the Laplace matrix. Secondly, an SMC controller is designed for follower USVs to achieve decentralized containment control with input and state quantization. Then, we consider switching network topology. Furthermore, the stability analysis is given to guarantee that sliding variables and tracking errors can converge to specified ranges related to the quantization parameters. Finally, simulation results demonstrate the feasibility of the designed SMC approach.