Collision-Free Finite-Time Adaptive Fuzzy Output-Feedback Formation Control for Unmanned Surface Vehicle Systems

This paper deals with the collision-free finite-time fuzzy formation control (FC) problem for multiple unmanned surface vehicle (USV) systems. The fuzzy state observers are designed to estimate the unmeasurable velocity and yaw velocity of USVs. An improved potential function is designed to establish the condition of collision avoidance of the follower vehicle and its potential obstacles. Then, based on the improved potential function, an observer-based fuzzy adaptive finite-time event-triggered FC method is developed by the event-triggered mechanism (ETM). By using finite-time stable, it is proved that the multi-USV systems are semi-global finite-time stable, the follower vehicles' output can track to the leader vehicle's output and the follower vehicle and its leader vehicle are free of collision. Finally, the simulation and comparison results demonstrate the feasibility of the proposed control algorithm.