Prescribed performances based fuzzy-adaptive output feedback containment control for multiple underactuated surface vessels

This paper addresses the problem of containment control strategy for a fleet of follower underactuated surface vessels (USVs) for avoiding obstacles safely and efficiently if the leader USVs are well equipped with high precision sensors. Therefore, within in this framework, we present a constructive method to design totally new prescribed-time performances for formation containment control problem for multiple underactuated surface vehicles (USVs) with unavailable velocity information, uncertainties and subject to inputs and outputs constraints, under directed communication graphs. First, in order to reconstruct the unavailable velocity information as well as to estimate unknown USVs dynamics, induced by unmodeled dynamics, and environmental disturbances, a fuzzy-adaptive observer is designed for the state estimation using only global position information and local measurement of the USVs orientation angle