Formation Control of Multiple Underactuated Unmanned Surface Vessel Systems Based on the Leader-Follower Method

This paper focuses on formation control for multiple underactuated unmanned surface vessels (USVs) system based on the leader-follower method. A new formation control model is first proposed. Then control laws for the kinematics and dynamics parts are developed separately based on the Lyapunov direct method and proportional control. The formation controller guarantees that the fleet can move in the desired structure with stability under disturbances. Numerical simulations are conducted to verify the controller’s effectiveness.