Swarm Control for Multiple Unmanned Surface Vehicles with Unknown Time-Varying Environmental Disturbance and Input Saturation

<div>The disturbance error <svg height="15.8677pt" id="M338" style="vertical-align:-3.2911pt" version="1.1" viewbox="-0.0498162 -12.5766 19.3619 15.8677" width="19.3619pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M300 -147C201 -63 143 98 143 270S200 602 300 686L282 710C136 610 70 450 70 271V270C70 89 136 -72 282 -170L300 -147Z"></path></g><g transform="matrix(.013,0,0,-0.013,7.206,-3.549)"><path d="M470 619L451 641C422 610 391 595 348 595C316 595 288 601 248 612C197 628 172 633 138 633C97 633 43 615 0 555L19 532C54 562 86 578 130 578C166 578 189 571 222 562C267 549 301 540 337 540C381 540 434 557 470 619Z"></path></g><g transform="matrix(.013,0,0,-0.013,4.498,0)"><path d="M530 686C535 705 530 712 521 712C504 712 448 684 359 674L358 648H393C437 648 439 646 429 593L400 435C372 447 345 448 332 448C286 448 194 414 144 373C68 311 23 203 23 111C23 26 57 -12 91 -12C120 -12 147 3 188 29C227 54 290 102 341 170H343L322 71C308 6 320 -12 341 -12C373 -12 442 27 501 96L485 120C455 91 422 67 408 67C401 67 401 76 404 91C440 294 479 473 530 686ZM387 375L355 241C326 187 200 53 142 53C126 53 109 73 109 130C109 217 154 337 218 381C240 396 265 404 297 404S372 390 387 375Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,11.648,3.132)"><path d="M250 606C250 634 233 656 203 656C168 656 146 618 146 593C146 564 169 545 192 545C227 545 250 573 250 606ZM227 95L212 119C187 98 152 71 135 71C129 71 128 78 134 102L207 373C219 418 217 451 194 451C165 451 92 411 30 351L44 326C77 353 106 371 114 371C124 371 121 357 117 341L55 97C32 5 46 -12 70 -12C108 -12 191 51 227 95Z"></path></g><g transform="matrix(.013,0,0,-0.013,14.73,0)"><path d="M275 270C275 450 212 609 64 710L45 686C145 604 203 442 203 270S147 -63 45 -147L64 -170C213 -68 275 89 275 270Z"></path></g></svg> of six USVs via MDA.</div>

Journal of Control Science and Engineering

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Figure 9

Figure 9: Swarm Control for Multiple Unmanned Surface Vehicles with Unknown Time-Varying Environmental Disturbance and Input Saturation 