This article is concerned with the close formation problem of multiple underactuated surface vessels in the presence of model uncertainties, roll motion, and environmental disturbances. To effectively address these issues, a novel control scheme considering roll stabilization is designed by combing terminal hierarchical sliding mode control with Lyapunov direct method, which can quickly ensure a small formation error in a finite-time for vessels. Meanwhile, a new switching gain adaptation mechanism is utilized to reduce chattering and acquire faster adaptive rate without the excessive temporary tracking errors. Radial basis function neural network and finite-time observer are employed to deal with model uncertainties and disturbances, respectively. Furthermore, dynamic surface control technology is introduced to reduce the complexity of control law. Various simulations and comparison results are conducted to verify the effectiveness of theoretical results.

中文翻译：

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基于终端分层滑模的欠驱动水面舰船主从紧密编队控制

本文关注在存在模型不确定性、横摇运动和环境干扰的情况下多艘欠驱动水面舰艇的紧密编队问题。为有效解决这些问题，结合终端分层滑模控制与李雅普诺夫直接法，设计了一种考虑横摇稳定的新型控制方案，可快速保证船舶有限时间内较小的编队误差。同时，新的开关增益自适应机制被用来减少抖动并获得更快的自适应速率，而不会产生过多的临时跟踪误差。径向基函数神经网络和有限时间观测器分别用于处理模型的不确定性和扰动。此外，引入动态曲面控制技术，降低控制律的复杂度。进行了各种模拟和比较结果以验证理论结果的有效性。