Distributed finite-time bearing-based formation control for underactuated surface vessels with Levant differentiator

Area of Science:

• Marine robotics
• Control theory
• Distributed systems

Background:

• Formation control of underactuated surface vessels (USVs) is challenging due to limited actuators.
• Existing methods often require complex global positioning or velocity measurements.

Purpose of the Study:

• To propose a distributed bearing-based formation control scheme for multiple USVs.
• To achieve finite-time convergence of formation control using only relative measurements.
• To reduce computational complexity and handle system uncertainties.

Main Methods:

• Guide point-based model transformation to reduce tracking error dynamics dimension.
• Finite-time recruited filter based on a first-order Levant differentiator.
• Auxiliary error compensation signals for uncertainties.
• Bearing-based control using relative distances and inner bearings.

Main Results:

• Successfully reduced the dimension of underactuated tracking error dynamics.
• Developed a computationally efficient finite-time filter.
• Demonstrated the feasibility of formation control in the body-fixed frame.
• Validated the proposed scheme through theoretical analysis and numerical simulations.

Conclusions:

• The proposed distributed bearing-based formation control scheme ensures finite-time convergence for multiple USVs.
• The method effectively handles system uncertainties and reduces computational load.
• It offers a practical solution for USV formation control using only relative measurements.