Distributed Finite-Time Prescribed Performance Security Control for Unmanned Ships Utilizing the Novel Disturbance Estimator

The article developed a distributed security control protocol of unmanned ships (USs) with the disturbances. To constraint the tracking errors within a predefined boundary, an infinite-time performance function and a logarithmic Lyapunov function are simultaneously introduced. Using the novel disturbance estimator, the disturbances are estimated. With the aid of the backstepping method, a distributed security controller is obtained and it is given that all the states of the system are bounded in finite time and the tracking errors can also meet preset performance requirements. Eventually, unmanned ships are given to show the utilizability of the obtained protocol.