Bipartite Formation-Containment of Networked Marine Surface Vehicles via Hierarchical Finite-Time Fuzzy Control Scheme

This paper addresses the bipartite formationcontainment (BFC) challenge for networked marine surface vehicles (NMSV) in the presence of hybrid time-varying disturbances and antagonistic information. The BFC problem entails dividing all nodes in the NMSV into two subnetworks that create formation-containment configurations. The nodes in the leader subnetwork (LSN) create two contrasting formation shapes influenced by cooperative and antagonistic interactions at specific finite time, with the centers of these shapes following the positive and negative trajectories of the target. Moreover, the nodes in the follower subnetwork (FSN) can connect exclusively with one another or with the LSN to converge into the appropriate follower containment shapes. Subsequently, a novel hierarchical finitetime fuzzy control (HFTFC) algorithm is proposed, integrating fuzzy logic rules and finite-time adaptive laws to tackle the challenges outlined above. Using the Lyapunov function, several sufficient conditions for stability analysis are derived to guarantee the stabilization of the designed HFTFC algorithm. Finally, simulation results demonstrate that both the position error and velocity error of the vehicles approach near-zero values within a finite time frame. These quantitative metrics validate the effectiveness and efficiency of the proposed algorithm.