Cooperative Vector Field-Based Synchronized Path Following for Underactuated USVs

This paper addresses the synchronized path following problem for multiple underactuated unmanned surface vehicles (USVs). A cooperative vector field-based guidance strategy is designed to ensure that all USVs follow predefined paths while maintaining coordination. To account for external disturbances, a time-varying linear observer is introduced to estimate the unknown sideslip angle, eliminating the need for expensive sensors and enhancing practical applicability. Additionally, a distributed synchronization mechanism is incorporated to enforce coordination among the USVs. The effectiveness of the proposed method is validated through numerical simulations, demonstrating its capability to achieve accurate path following and maintain coordinated movement.