[
1. J. F. Jimenez and J. M. Giron-Sierra, “USV based automatic deployment of booms along quayside mooring ships: Scaled experiments and simulations,” Ocean Engineering, vol. 207, pp. 1−12, Jul. 2020. doi:10.1016/j.oceaneng.2020.107438.10.1016/j.oceaneng.2020.107438
]Search in Google Scholar
[
2. J. Y. Zhuang, L. Zhang, Z. H. Qin, H. B. Sun, B. Wang, and J. Cao, “Motion control and collision avoidance algorithm for unmanned surface vehicle swarm in practical maritime environment,” Polish Maritime Research, vol. 26, no. 1, pp.107−116. doi: 10.2478/pomr-2019-0012.10.2478/pomr-2019-0012
]Search in Google Scholar
[
3. B. C. Shah and S. K. Gupta, “Long-distance path planning for unmanned surface vehicles in complex marine environment,” IEEE Journal of Oceanic Engineering, vol. 45, no. 3, pp. 813−830, Jul. 2020. doi:10.1109/JOE.2019.2909508.10.1109/JOE.2019.2909508
]Search in Google Scholar
[
4. X. Liang, X. R. Qu, Y. H. Hou, Y. Li, and R. B. Zhang, “Distributed coordinated tracking control of multiple unmanned surface vehicles under complex marine environments,” Ocean Engineering, vol. 205, pp. 1−9, Jun. 2020. doi:10.1016/j.oceaneng.2020.107328.10.1016/j.oceaneng.2020.107328
]Search in Google Scholar
[
5. H. N. Esfahani and R. Szlapczynski, “Model predictive super-twisting sliding mode control for an autonomous surface vehicle”, Polish Maritime Research, vol. 26, no. 3, pp. 163−171, Sept. 2019. doi: 10.2478/pomr-2019-0057.10.2478/pomr-2019-0057
]Search in Google Scholar
[
6. M. A. Hinostroza, H. T. Xu, and C. G. Soares, “Cooperative operation of autonomous surface vehicles for maintaining formation in complex marine environment,” Ocean Engineering, vol. 183, pp. 132−154, Jul. 2019. doi:10.1016/j. oceaneng.2019.04.098.
]Search in Google Scholar
[
7. R. V. C. Vid, J. P. V. S. Cunha, and P. B. Garcia-Rosa, “Stabilizing control of an unmanned surface vehicle pushing a floating load,” International Journal of Control, Automation and Systems, vol. 18, pp. 1−10, Jun. 2020. doi:10.1007/s12555-019-0677-1.10.1007/s12555-019-0677-1
]Search in Google Scholar
[
8. S. S. Wang and Y. L. Tuo, “Robust trajectory tracking control of underactuated surface vehicle with prescribed performance,” Polish Maritime Research, vol. 27, no. 4, pp. 148−156, Dec. 2020. doi: 10.2478/pomr-2020-0075.10.2478/pomr-2020-0075
]Search in Google Scholar
[
9. C. Paliotta, E. Lefeber, K. Y. Pettersen, J. Pinto, M. Costa, and J. T. D. B. Sousa, “Trajectory tracking and path following for underactuated marine vehicles,” IEEE Transactions on Control Systems Technology, vol. 27, no. 4, pp. 1423−1437, Jul. 2019. doi:10.1109/TCST.2018.283-4518.
]Search in Google Scholar
[
10. J. Han and J. Kim, “Three-dimensional reconstruction of a marine floating structure with an unmanned surface vessel,” IEEE Journal of Oceanic Engineering, vol. 44, no. 4, pp. 984−996, Oct. 2019. doi:10.11-09/JOE.2018.2862618.10.1109/JOE.2018.2862618
]Search in Google Scholar
[
11. K. Shojaei, “Leader–follower formation control of underactuated autonomous marine surface vehicles with limited torque,” Ocean Engineering, vol. 105, pp. 196−205, Jun. 2015. doi:10.1016/j.oceaneng. 2015.06.026.
]Search in Google Scholar
[
12. Z. Y. Gao and G. Guo, “Adaptive formation control of autonomous underwater vehicles with model uncertainties,” Int. J. Adapt. Control Signal Process, vol. 32, pp. 1067−1080, Mar. 2018. doi:10.1002/acs. 2886.
]Search in Google Scholar
[
13. J. Ghommam and M. Saad, “Adaptive leader–follower formation control of underactuated surface vessels under asymmetric range and bearing constraints,” IEEE Transactions on Control Systems Technology, vol. 67, no. 2, pp. 852−865, Feb. 2018. doi:10.1109/TVT. 2017.2760367.
]Search in Google Scholar
[
14. L. Y. Chen, H. Hopman, and R. R. Negenborn, “Distributed model predictive control for vessel train formations of cooperative multi-vessel systems,” Transportation Research Part C-Emerging Technologies, vol. 92, pp. 101−118, May 2018. doi:10.1016/j.trc.2018. 04.013.
]Search in Google Scholar
[
15. J. X. Zhang and G. H. Yang, “Fault-tolerant leader-follower formation control of marine surface vessels with unknown dynamics and actuator faults,” Int. J. Robust Nonlinear Control, vol. 28, pp. 4188−4208, Apr. 2018. doi:10.1002/rnc.4228.10.1002/rnc.4228
]Search in Google Scholar
[
16. M. Y. Fu and L. L. Yu, “Finite-time extended state observer-based distributed formation control for marine surface vehicles with input saturation and disturbances,” Ocean Engineering, vol. 159, pp. 219−227, Apr. 2018. doi:10.1016/j. oceaneng.2018.04.016.
]Search in Google Scholar
[
17. T. S. Li, R. Zhao, C. L. P. Chen, L. Y. Fang, and C. Liu, “Finite-time formation control of under-actuated ships using nonlinear sliding mode control,” IEEE Transportation on Cybernetics, vol. 48, no. 11, pp. 3243−3253, Nov. 2018. doi:10.1109/TCYB.2018.2794968.10.1109/TCYB.2018.279496829994578
]Search in Google Scholar
[
18. Z. J. Sun, G. Q. Zhang, Y. Lu, and W. D. Zhang, “Leader-follower formation control of underactuated surface vehicles based on sliding mode control and parameter estimation,” ISA Transactions, vol. 72, pp. 15−24, Nov. 2017. doi:10.1016/j.isatra.2017.11.008.10.1016/j.isatra.2017.11.00829221607
]Search in Google Scholar
[
19. S. L. Dai, S. D. He, H. Lin, and C. Wang, “Platoon formation control with prescribed performance guarantees for USVs,” IEEE Transportation on Industrial Electronics, vol. 65, no. 5, pp. 4237−4246, May 2018. doi:10.1109/TIE.2017.2758743.10.1109/TIE.2017.2758743
]Search in Google Scholar
[
20. Y. Lu, G. Q. Zhang, Z. J. Sun, and W. D. Zhang, “Robust adaptive formation control of underactuated autonomous surface vessels based on MLP and DOB,” Nonlinear Dynamics, vol. 94, pp. 503−519, Jun. 2018. doi:10.1007/s11071-018-4374-z.10.1007/s11071-018-4374-z
]Search in Google Scholar
[
21. Y. Li and J. Zheng, “The design of ship formation based on a novel disturbance rejection control,” International Journal of Control, Automation and Systems, vol. 16, no. 4, pp. 1833−1839, Feb. 2018. doi: 10.1007/s12555-017-0424-4.10.1007/s12555-017-0424-4
]Search in Google Scholar
[
22. B. S. Park and S. J. Yoo, “Adaptive-observe-based formation tracking of networked uncertain underactuated surface vessels with connectivity preservation and collision avoidance,” Journal of the Franklin Institute-Engineering and Applied Mathematics, vol. 356, pp. 7947−7966, Apr. 2019. doi:10.1016/j.jfranklin.2019.04.017.10.1016/j.jfranklin.2019.04.017
]Search in Google Scholar
[
23. C. F. Huang, X. K. Zhang, and G. Q. Zhang, “Improved decentralized finite-time formation control of underactuated USVs via a novel disturbance observer,” Ocean Engineering, vol. 174, pp. 117−124, Jan. 2019. doi:10.1016/j.oceaneng.2019.01.043.10.1016/j.oceaneng.2019.01.043
]Search in Google Scholar
[
24. Z. H. Peng, N. Gu, Y. Zhang, Y. J. Liu, D. Wang, and L. Liu, “Path-guided time-varying formation control with collision avoidance and connectivity preservation of under-actuated autonomous surface vehicles subject to unknown input gains,” Ocean Engineering, vol. 191, pp. 1−10, Oct. 2019. doi:10.1016/j.oceaneng.2019.106501.10.1016/j.oceaneng.2019.106501
]Search in Google Scholar
[
25. J. Li, J. L. Du, and W. J. Chang, “Robust time-varying formation control for underactuated autonomous underwater vehicles with disturbances under input saturation,” Ocean Engineering, vol. 179, pp. 180−188, Mar. 2019. doi:10.1016/j.oceaneng.2019.03.017.10.1016/j.oceaneng.2019.03.017
]Search in Google Scholar
[
26. H. N. Esfahani, R. Szlapcznski and H. Ghaemi, “High performance super-twisting sliding mode control for a maritime autonomous surface ship (MASS) using ADP-based adaptive gains and time delay estimation”, Ocean Engineering, vol. 191, no. 106526, pp.1−19, Nov. 2019. doi:10.1016/j.oceaneng.2019.106526.10.1016/j.oceaneng.2019.106526
]Search in Google Scholar
[
27. T. Fossen, “Handbook of Marine Craft Hydrodynamics and Motion Control”, New York: Wiley, 2011.10.1002/9781119994138
]Search in Google Scholar
[
28. E. Panteley, E, Lefeber, A. Loria and H. Nijmeijer, “Exponential tracking control of a mobile car using cascaded approach,” IFAC Proceedings, vol. 31, no. 27, pp. 201−206, 1998. doi: 10.1016/S1474-6670(17)40028-0.10.1016/S1474-6670(17)40028-0
]Search in Google Scholar
[
29. H. K. Khalil, “Nonlinear Systems” 3rd ed., New Jersey: Prentice Hall, 2002.
]Search in Google Scholar
[
30. K. D. Do and J. Pan, “Global robust adaptive path following of underactuated ships,” Automatica, vol. 42, no. 10, pp.1713−1722, Oct. 2006. doi: 10.1016/j. automatica.2006.01.026.
]Search in Google Scholar
