Formation scaling control for multiple unmanned surface vessels

This paper addresses the formation scaling control problem for multiple unmanned surface vessels (multi-USVs) subject to unknown environmental disturbances. It is essential for the formation system as a whole with the desired shape to go through narrow and irregular channels. Initially, we designed a formation scaling controller with a bioinspired neuro-a dynamics model (BNDM) for the followers. Especially, BNDM can solve the traditional differential explosion problem of the virtual control law, limit the virtual control in a particular range, and solve the velocity-jump issue. In addition, a sliding mode disturbance observer (SMDO) is introduced to estimate unknown environmental disturbances with little chattering and rapid convergence. Finally, the effectiveness of the proposed controller and observer of the multi-USVs is illustrated by numerical simulations.