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Robust Nonlinear Multiple Unmanned Surface Vessels Control Against Probabilistic Faults and Time-Varying Delay

This paper is concerned with robust nonlinear control for multiple unmanned surface vessel (MUSV) systems. Firstly, a mixed nonlinear model was built, in which the probabilistic actuator and fault time-varying communication delay was considered. On the basis of the new model, a robust nonlinear control approach by utilizing Lyapunov-Krosovskii functional is proposed, which can robustly stabilize the MUSV system with a given level of disturbance attenuation ensure the MUSV can track well. Furthermore, additional conditions were established for the designed controller to guaranteeing mesh stability. Eventually, the superiority and effectiveness of the proposed control strategies are verified by numerical simulation.