Fault-Tolerant Bipartite Formation Tracking Control of Multiple USVs: A Fully Distributed Observer-Based Approach

In this paper, the fault-tolerant bipartite formation tracking problem of the multi-unmanned surface vehicle systems in the presence of a dynamic leader and actuator faults is studied. To deal with this problem, a set of fully distributed observers is first designed to estimate the leader's states, then the command-filtered backstepping-based control scheme is proposed. The results demonstrate that the proposed control scheme ensures the uniformly ultimate boundedness of the tracking errors, effectively solving the bipartite formation tracking control problem for multi-unmanned surface vehicle. Finally, the effectiveness of the present control scheme is validated by implementing simulation experiments.