Research on Formation Control Technology of Unmanned Surface Vessel Based on Backstepping Method
LIU Shanyu
WANG Longjin
Abstract：A fixed time unmanned surface vessel formation trajectory tracking control method based on pilot-following is proposed for the cluster control problem of unmanned surface vessel formation.Using the backstepping method and fixed time strategy,the tracking error of the navigator and formation system is defined.Based on the fixed time backstepping control theory,the position and speed controllers of the unmanned surface vessels are designed to enable the navigator and follower to complete trajectory tracking within a fixed time,and the trajectory tracking error converges to the expected value within a fixed time|.In response to the frequent low-frequency interference problem faced by unmanned surface vessels,a fixed time disturbance observer is designed in the follower control system.By introducing auxiliary variables,low-frequency interference is estimated online,and dynamic compensation is applied to the motion control of unmanned surface vessels,improving the control accuracy of the formation under low-frequency disturbances.The stability of the designed formation control system is demonstrated using Lyapunov stability theory.Based on the Matlab/Simulink simulation platform,a simulation environment is constructed to verify the effectiveness of the formation control method proposed in this paper.
Keywords：USVpilot-following methodformation controlfixed time
Publication Date：2025-05-20
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 32-36,132 )