Synchronous Control Method of Multiple Under-actuated USVs based on Leader-Follower Mode

This paper proposes a distributed control multi-USVs(Unmanned Surface Vessel) method based on the leader-follower model, considering the effect of constant unknown interference on each USV. At the same time, since we considered that the leader can be virtual or real, the method can be used for single USV control based on the leader-follower mode, and also for formation control of one leader and N followers. Furthermore, we assume that the leader will influence the behavior of all the followers, through consensus between followers, but can communicate only with a subset of the followers. The method performs global asymptotic synchronization by controlling the output of each follower and the output of the leader, while rejecting the influence of interference to achieve the control objective. In order to verify the theoretical results, a simulation experiment was carried out at the end of the paper.