Leader-Follower Formation Control of Uncertain USV Networks under Stochastic Disturbances

The robust adaptive leader-follower formation control of uncertain unmanned surface vehicles (USVs) under stochastic disturbances is studied in this paper. The additive noises are considered in the kinematics that stands for the un-modeled dynamic. The disturbances induced by wind, waves and ocean currents are also separated into stochastic and deterministic components. A comprehensive model for each agent is then derived by stochastic differential equations including standard Wiener processes. Thus, the problem definition is more challenging since both the environmental disturbances and kinematics states are defined by stochastic differential equations. Quartic Lyapunov functions synthesis, dynamic surface control (DSC) technique, the projection algorithm, and neural networks (NNs) are employed to guarantee that all the tracking errors converge to a ball centered at the origin in probability. Finally, the simulation experiments quantify the effectiveness of proposed approach.