Prescribed-Time Formation Control for Unmanned Surface Vehicle Systems under Switching Topology

This paper focuses on the problem of prescribed-time adaptive formation control for unmanned surface vehicle (USV) systems under stochastic noises and switching topology. To address this, we first model the Gaussian noises as the Wiener process, allowing us to transform the control problem of USV systems into a more specific problem for stochastic systems. Next, we employ the average dwell time (ADT) method to handle the issue of communication topology switching during the forward movement of the USVs formation. Finally, by introducing an appropriate scaling function, a robust adaptive prescribed-time adaptive formation control strategy is developed for USV systems. By the aid of ADT method and Lyapunov stability theory, the developed control algorithm can demonstrate all signals of the USV systems remain mean square bounded within the prescribed time, and ensures that the follower vehicles can effectively track the leader vehicle. Furthermore, the simulation results validate the feasibility of the proposed control algorithm.