Efficient anti-disturbance with collision-obstacle avoidance for under-actuated ships under signal quantization

•Collision-obstacle avoidance is achieved in formation of under-actuated ships.•Anti-disturbance compensation mechanism improves formation control accuracy.•State and input quantization with event-triggering enables efficient formation result. This paper presents a high-execution efficient anti-dist...

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Bibliographic Details

Published in:	Ocean engineering Vol. 343; p. 123123
Main Authors:	Wang, Hongyu, Ning, Jun, Hu, Xin, Liu, Lu
Format:	Journal Article
Language:	English
Published:	Elsevier Ltd 15.01.2026
Subjects:	Artificial potential field Event-triggering Extended state observer Signal quantization Unmanned surface vehicles Extended state observer Event-triggering Artificial potential field Signal quantization Unmanned surface vehicles
ISSN:	0029-8018
Online Access:	Get full text
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