In this paper, a distributed bearing-based formation control scheme with finite-time convergency is proposed for multiple underactuated surface vessels (USVs). By virtue of the guide point-based model transformation method, the dimension of underactuated tracking error dynamics can be reduced from three to two. This allows us to convert the actuator model to a fully form that matches dimension-reduced tracking error dynamics. Further, to reduce the computation complexity, a finite-time recruited filter is designed according to first-order Levant differentiator. At meanwhile, auxiliary error compensation signals are introduced to address unknowns stemming from filter process and system dynamics. Since merely relative-distances and inner bearings are utilized in the proposed bearing-based formation approaches, the proposed control scheme provides a feasible solution to achieve formation control under body-fixed frame. Finally, theoretical analysis and numerical simulations are presented to demonstrate the efficacy.
Keywords: Bearing-based formation control; Command filter; Finite-time convergence; Levant differentiator; Underactuated surface vessel.
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