Low-complexity formation control of marine vehicle system based on prescribed performance.

This paper presents an innovative formation control method using the leader–follower strategy for a marine vehicle system, addressing the computing power disparity between the leader Unmanned Surface Vehicle (USV) and the follower Autonomous Underwater Helicopters (AUHs). Accounting for model uncertainties and external disturbances affecting the leader USV, we develop a control law for trajectory tracking, which ensures precise parameterized path tracking. A finite-time distributed observer based on the consensus principle is designed for the follower AUHs. The observer estimates the leader's position within communication constraints, ensuring timely and accurate information sharing. To achieve effective tracking and formation of the follower AUHs relative to the leader USV, we propose a formation control method with low complexity and predefined performance constraints. This method introduces a novel prescribed performance function and a Nussbaum function to manage tracking errors and address unknown propeller control directions. Finally, we validate the system's stability using Lyapunov stability theory and demonstrate the method's effectiveness through detailed MATLAB simulations. The results show that our approach significantly improves tracking accuracy and formation stability under various conditions. [ABSTRACT FROM AUTHOR]