Robust Coordinated Formation Control of Multiple Vessels with Disturbance and Time Delay

When considering disturbance, the coordinated formation control of multiple vessels is studied. And a coordinated formation control approach is proposed. And a disturbance estimator is used to estimating the disturbance. Moreover, the undirected communication topology is constructed to represent the relationvessel of vessels. Meanwhile, the stability of the disturbance estimator and the coordinated formation controller are proved by the Lyapunov theory. Finally, four marine vessels with unknown time-variant disturbance and communication delay are simulated by computer simulation tests. It is shown that the proposed control strategy can solve the coordinated of multiple vessels.