Formation Control of Unmanned Surface Vehicles Using Fixed-Time Non-Singular Terminal Sliding Mode Strategy

Abstract

Unmanned surface vehicles (USVs) have been widely applied in the fields of marine hydrological exploration, marine resource exploration, area search, target detection, and military operations. In order to meet the demand of a complex ocean environment, USVs are frequently grouped together to improve the reliability of mission accomplishment. In this paper, a fixed-time control strategy, combined with a non-singular terminal sliding mode, is proposed for the formation control of USVs under complex external disturbances and system uncertainties. The main contributions of this paper are: (1) the leader–follower formation control framework is divided into a tracking control subsystem and a formation control subsystem. A new fixed-time non-singular terminal sliding mode (FTNTSM) strategy is developed for the tracking control subsystem, which dramatically increases the convergence rate and ensures closed-loop fixed-time stability; (2) a finite-time uncertain observer (FUO) is designed to observe lumped uncertainty items, which greatly increase the stability and robustness of the formation system; (3) the FUO-based fixed-time formation control (FUOFT-FC) strategy is designed for the formation control subsystem, which ensures the fast and stable formation of USVs. Fixed-time convergence of the formation system is established by Lyapunov stability analysis. Rigorous simulation and comparative studies demonstrate that the proposed method is superior to the state-of-the-art methods.