Curved-dynamic coordinates based formation control for multiple unmanned ships

A novel formation control method for multiple unmanned underactuated ships is presented based on terminal sliding mode control. At first, a directed topology graph is used to describe the information interaction between the ships and its neighbors, then a novel curved-dynamic coordinates is constructed, which is used to the consensus reference for the formation motion. Under the formation coordinates, a local-to-global terminal sliding controller is designed to keep the relative pose of the dynamic unmanned ships at last.