Finite-time Formation Control Of Multiple Vessels

In this paper, a finite-time consistency algorithm is designed for multi-surface vessels' formation. The algorithm is based on homogeneous theory. The proposed algorithm enables the multi-surface ship to achieve precise formation in a limited time. We propose a nonlinear consensus protocols for multiple vessels, which enables that all agents' status will reach a consistent state in a finite time. And then we apply the consensus protocol to the vessels formation control. The Lyapunov stability analysis proves that all vessels will achieve the expected formation in a finite time. Finally, several related simulations are implemented to substantiate the feasibility of our proposed control protocol.