Fuzzy Adaptive Super-Twisting Sliding Mode Control for Underactuated USV Formation Based on Dynamic Cooperative Error Correction

In order to maintain stable formations of the underactuated unmanned surface vehicles (USVs) under ocean disturbances and reduce control chattering, a fuzzy adaptive super-twisting sliding mode control method combined with dynamic cooperative error correction is introduced in this paper. At the kinematic level, a dynamic cooperative error correction scheme is presented to include the relative positions of the neighboring vehicles. This results in a transition from independent tracking to interactive cooperation, thus improving the rigidity of the formation during maneuvers. Secondly, a composite inner-loop structure is designed by employing a nonlinear disturbance observer to counteract the effects of external loads. A fuzzy logic system is included to modify the super-twisting sliding mode gains in real-time. This approach effectively combines rapid error reduction with signal smoothness, addressing the trade-off between response speed and chatter suppression. Moreover, tracking differentiators and low-pass filters are utilized to obtain continuous control signals. The Lyapunov analysis indicates that the closed-loop system achieves semi-global uniform ultimate boundedness. Simulation results show that the proposed method can maintain high formation precision and obtain smooth control outputs with reduced chattering.