Distributed Node-to-Node Formation Tracking for Two-Layer Multi-ASV System with Multiple Leaders

This paper investigates the distributed formation tracking problem of two-layer multiple autonomous surface vehicle (multi-ASV) systems with multiple leaders from the perspective of node-to-node consensus tracking. The leader ASVs aim to achieve the desired formation according to the actual task requirements and are not affected by the follower ASVs. It is worth noting that the ASVs in the leader layer and the ASVs in the follower layer can be equipped with heterogeneous topologies. To this end, the formation control law for the leader ASVs and the node-to-node formation tracking control law for the follower ASVs are proposed in this paper, respectively. Moreover, it is demonstrated that the leader ASVs can realize the desired formation, and the follower ASVs can achieve the node-to-node formation tracking under the designed control laws through theoretical analysis. Finally, numerical simulations are conducted to verify the validity of the theoretical results.