Fixed-Time Formation Tracking Control for Multiple Unmanned Surface Vessels

This work suggests a fixed-time formation control scheme based on a disturbance observer for multiple unmanned surface vessels (USVs) formation tracking control problem with model uncertainties and unknown external disturbances. First, the ocean disturbance and model uncertainties are seen as lumped disturbances, and fixed-time disturbance observer are created to observe and compensate for lumped disturbances. The formation control law is created using the disturbance observer, command filtering technique, fixed time control, and virtual leader following algorithm to ensure that all signals in the closed loop system are practically fixed-time stable. Finally, the formation simulation of three USVs is used to demonstrate the effectiveness of the suggested approach.