Formation Control of Unmanned Surface Vehicle for Actuator Failure

This paper solves formation control problem for unmanned surface vehicle (USV) under actuator failure. Based on virtual pilot-following control strategy and adopting the guidance law, an adaptive backstepping control formation strategy based on a nonlinear disturbance observer is proposed. Taking into account the influence of external disturbances on the navigation of the USV, a nonlinear disturbance observer is designed to estimate and compensate in the control law. A robust term is designed to compensate the actuator fault parameters and effectively solve the problem of USVs formation stability control under actuator faults. Taking into account the jamming of the actuators, the formation needs to be reconstructed to change the formation to ensure the smooth progress of the formation task. The simulation proved the effective operation of the formation control strategy.