Finite-time fuzzy adaptive formation tracking control for USVs with multiple constraints and unknown dead zones.

This paper investigates the fuzzy adaptive finite-time formation tracking control problem for underactuated unmanned surface vehicles (USVs) subject to multiple constraints and unknown dead-zones. The model of USVs contains unknown nonlinear dynamics, so the fuzzy logic systems (FLSs) are employed to estimate them. The prescribed performance control (PPC) technique is used to construct the constraint requirements of collision avoidance and connectivity preservation in formation control. Then, based on the theory of finite-time stability and dynamic surface control (DSC) scheme, a fuzzy adaptive formation tracking control algorithm is presented, which can solve the problem of unknown dead zones for USVs and have the advantages of avoiding collision and preserving connectivity, and also ensures that all the signals are bounded in finite-time bounded. The simulation results can verify the feasibility of the proposed control method. [ABSTRACT FROM AUTHOR]