Globally Asymptotic Formation Control of Networked USVs with Output and Input Constraints

This article addresses the asymptotic formation control issue for networked unmanned surface vehicles (USVs) with output and input constraints. Specifically, a leader-follower scheme is developed to make each USV follow its reference trajectory without collisions among vehicles. Moreover, a global prescribed performance control is proposed to ensure tracking errors converge to optimal constrained boundaries regardless of initial conditions. Additionally, an adaptive formation controller is designed with the auxiliary variable to guarantee asymptotic convergence of the tracking system towards the origin with a small residual set, where the first-order filtering is introduced to avoid repeated differentiation and the fuzzy logic system is employed to attenuate effects of uncertainties and disturbances. Based on Lyapunov stability theorem, the rigorous closed-loop stability is achieved in terms of convergence and boundedness. Finally, numerical simulations show the effectiveness of the proposed method.