Collision-Free Formation-Containment Tracking of Multi-USV Systems with Constrained Velocity and Driving Force

Abstract

This paper studied the collision avoidance issue in the formation-containment tracking control of multi-USVs (unmanned surface vehicles) with constrained velocity and driving force. Specifically, based on a dual-layer control framework, it designed a multi-USV formation-containment tracking control strategy that accounts for constrained motion velocity and input driving force and validated the stability of this strategy using the Lyapunov method. Then, by utilizing zeroing control barrier function certificates, it considered collision avoidance among USVs with various roles as well as between each USV and static obstacles. A collision-free multi-USV formation-containment tracking control strategy considering constrained motion velocity and driving force was thus established, and its effectiveness was validated through the proposed simulation.