Formation Control of Unmanned Surface Vehicles Using Fixed-Time Non-Singular Terminal Sliding Mode Strategy

Unmanned surface vehicles (USVs) have been widely applied in the fields of marine hydrological exploration, resource area search, target detection, and military operations. In order to meet demand a complex ocean environment, USVs are frequently grouped together improve reliability mission accomplishment. this paper, fixed-time control strategy, combined with non-singular terminal sliding mode, is proposed for formation under external disturbances system uncertainties. The main contributions paper are: (1) leader–follower framework divided into tracking subsystem subsystem. A new mode (FTNTSM) strategy developed subsystem, which dramatically increases convergence rate ensures closed-loop stability; (2) finite-time uncertain observer (FUO) designed observe lumped uncertainty items, greatly increase stability robustness system; (3) FUO-based (FUOFT-FC) fast stable USVs. Fixed-time established by Lyapunov analysis. Rigorous simulation comparative studies demonstrate that method superior state-of-the-art methods.