Nonlinear Extended State Observer-Based Distributed Formation Control of Multiple Vessels with Finite-Time Prescribed Performance

In the presence of unmeasurable velocities and system uncertainties, distributed formation control problem is investigated in this paper for multiple vessels. A robust controller proposed by incorporating an extended state observer (ESO) finite-time prescribed performance function (FTPPF). Firstly, a nonlinear ESO designed to estimate uncertainties. Subsequently, novel FTPPF improve dynamic multi-vessel systems, where upper bound convergence time constraint bounds can be set advance based on actual circumstances. Then, are applied design The scheme maintain vessels expected with high tracking accuracy, faster speed, smaller fluctuations. Finally, method verified theory analysis simulations.