Cooperative Quantized Event-Based Fuzzy Tracking Control of Nonlinear Autonomous Surface Vehicles With Prescribed Performance

This paper investigates the cooperative fuzzy tracking control of nonlinear unmanned surface vehicles with input quantization and event-triggered mechanism. The proposed cooperative control scheme consists of two parts: (i) the distributed observer and (ii) the dynamic event-based fuzzy tracking controller. The distributed observer is designed to obtain the nonlinear leader’s trajectory information on a directed communication topology. Under this framework, uncertain nonlinearity within the vehicle model is approximated through fuzzy logic systems, and, according to the state of the distributed observer, the dynamic event-based adaptive fuzzy tracking control law is developed with an input switching quantizer. Furthermore, a prescribed performance method is introduced to ensure the transient performance of tracking errors and obtain zero-tracking errors ultimately, which is proved through Lyapunov stability theory. Finally, the effectiveness of the proposed control strategy is verified by simulation experiments.