Event-Triggered Adaptive Coordinated Formation Control of Multiple Under-Actuated Vehicles With Input and State Quantization

This paper investigates an event-triggered-based coordinated formation control of under-actuated unmanned surface vehicles (USVs) with signal quantization and actuator fault tolerance simultaneously. The controller is designed by combining an extended state observer(ESO), signal quantization, actuator fault tolerance, and event triggering. Firstly, this paper estimates the quantized state information of each USV and the uncertainty terms present in the model by introducing an ESO. Secondly, the input quantization process is described by a linear model and the actuator failure problem is also considered. Subsequently, an event-triggered control strategy is proposed to further reduce the communication burden. The highlights of the proposed scheme lie in that it simultaneously considers event triggering and signal quantization and estimates the state quantization information of each USV along with the uncertainty terms present in the model using an ESO. This scheme not only saves communication resources and eliminates the need for quantizer parameter information, but also improves the robustness and efficiency of the control system. In addition, the stability of the designed coherent coordinated formation controller for USVs is demonstrated by the input-to-state stability theory. Finally, the effectiveness and feasibility of the control strategy are verified by involving multiple USVs in different cases.