Data-Driven Adaptive Control for Containment Maneuvering of Output Constrained Marine Surface Vehicles With Quantized Communications

In this paper, a control system structure with output constrained and quantized communication is proposed for a group of marine surface vessels (MSVs) in the framework of containment maneuvering. First, the tracking error of the system is constrained to a particular range at every moment in the whole process of the system, based on an asymmetric $ln$-type Lyapunov function instead of a symmetric $ln$-type Lyapunov function. Secondly, a quantized communication protocol is proposed to enable the reduction of the amount of communication data and a speed estimator is proposed to enable the execution of more complex and diverse tasks at the cooperative level. Thirdly, for unknown dynamics, a data-driven adaptive disturbance observer (DADO) is employed for estimatiom. Compared with existing containment maneuvering strategies, the control method in this paper has more flexible parameter design processes, a larger initial range available and lower bandwidth requirement, and no prior knowledge of dynamics is required. Finally, the effectiveness of the control strategy in this paper is verified by simulation.