Observer-Based Finite-Time Control for Distributed Path Maneuvering of Underactuated Unmanned Surface Vehicles With Collision Avoidance and Connectivity Preservation

This article addresses the distributed path maneuvering of underactuated unmanned surface vehicles (USVs) with collision avoidance and connectivity preservation. The USVs are guided by the multiple virtual leaders moving along the multiple parameterized paths and only a fraction of USVs have access to the virtual leaders. An observer-based finite-time control method is proposed to achieve a containment formation. Specifically, a finite-time extended state observer is employed to recover the unmeasured linear/angular velocities and estimate the total disturbances consisting of model uncertainties as well as ocean disturbances at first. Then, observer-based finite-time guidance laws using the information of neighbors are designed based on a containment scheme. An artificial potential field is incorporated into the distributed guidance law design to avoid collision and preserve connectivity. Finally, antidisturbance kinetic control laws are devised based on the finite-time convergent observers and nonlinear tracking differentiators. It is proven that all error signals in the closed-loop system are ultimately uniformly bounded, and the distributed path maneuvering formation pattern can be achieved in a finite time when USVs outside the collision avoidance and connectivity preservation region. Simulation results are given to verify the effectiveness of the proposed output feedback control method for the distributed path maneuvering of multiple USVs with position-yaw measurements only.