Selection strategies and finite-time target tracking of multiple unmanned surface vehicles with mode and disturbances

In this paper, the finite-time coordinated target tracking problem of multi-unmanned surface vehicles (USVs) with model uncertainty, underactuation and disturbances based on distributed coordinated control is studied. Firstly, from the point of view of practical application, the select tracking scenario is proposed to protect monitoring area. Three new initial selection strategies are proposed to shorten the total time for the whole tracking system. Secondly, based on sliding mode control, the surge force finite time tracking controller and the yaw moment finite time tracking controller are proposed. And the novel continuous function is introduced to eliminate the singularity. Finally, the Lyapunov stability criterion proves that the designed controllers can realize multi-USVs coordinated finite-time tracking. Simulation results show the effectiveness of the designed distributed coordinated controllers, and verify the correctness of the initial selection strategies.