Delayed fixed-time distributed formation control for USV with input saturation and its application to pollution area monitoring

To make USV monitor polluted areas, take into account delayed-time, input saturation, and external disturbances. A delayed fixed-time formation-control solution for unmanned surface vehicles is proposed. First, the polluted area is fitted into a polynomial function using the least-squares method, and this polynomial is taken as the target function for USVs. Next, a formation model for the USV team is established. Third, an event-triggered mechanism is introduced and a sliding-mode controller is designed. Finally, the effectiveness and robustness of the proposed multi-USV control strategy are validated through theoretical analysis and simulation experiments.