Finite-time formation control for multiple Underactuated Unmanned Surface Vehicles

This paper focuses on the finite-time formation control of underactuated unmanned surface vehicles (USVs). Aiming at realizing the tracking of multiple USVs, this paper proposes a finite-time guidance control method. A guidance law based on the improved line-of-sight (LOS) method and parameter adaptive technology is designed to enhance tracking performance. In addition, a composite parameter update law on the basis of graph theory is proposed to facilitate the formation of USVs. According to the theoretical analysis in this paper, the system errors can be converged to zero in finite time under the proposed guidance law, and the simulation experiment also verifies.