Reduced-Order Observer-Based Formation Control of Multiple Surface Vehicles

In the real ocean environment, as a result of the limited resources or sensor failures, not all states of the vehicles can be available, so the design of the observer is particularly important. In this paper, a novel reduced order observer-solving process is designed, and the parameters are directly chosen to deal with the inherent couplings, avoiding being compensated as the Lipschitz terms, moreover, the convergence rates of observer error states are guaranteed. The formation control of multiple surface vehicles is solved. The simulation results show that the proposed reduced order observer in this paper can effectively estimate the unknown velocities, and the controller can effectively solve the formation problem of multiple surface vehicles.