DAT-Based Formation Control With Different Scale Factor of Relative Information Measurement

This paper proposes an unmanned surface vehicles (USVs) formation control method based on distributed average tracking (DAT) with different relative information measurement scale factors. Firstly, the DAT algorithm is designed in the controller to control the time when the system reaches stability. Then, the relative position information of adjacent USVs is measured by installing distance sensors and direction sensors on each USV, and different scale factors are used to control the formation of USVs, and improve the stability and robustness of its control system. Finally, the effectiveness of the method proposed in this paper is verified by numerical simulation experiments.