This paper proposes a formation control method for two underactuated unmanned surface vessels (USVs) to follow curved paths in the presence of ocean currents. By uniting a line-of-sight (LOS) guidance law and the null-space-based behavioral control (NSB) framework, we achieve curved path following of the barycenter, while maintaining the desired vessel formation.

The closed-loop dynamics are investigated using cascaded systems theory, and it is shown that the closed-loop system is USGES and UGAS, while the underactuated sway dynamics remain bounded. Simulations show that the barycenter task errors converge to zero, validating the theoretical results, while a small cross-track error is observed in the experiments.

本文提出了一种使两艘欠驱动无人水面舰艇（USV）在洋流存在的情况下遵循弯曲路径的编队控制方法。通过将视线 (LOS) 制导法则和基于零空间的行为控制 (NSB) 框架结合起来，我们实现了重心的曲线路径跟随，同时保持了所需的血管形成。

使用级联系统理论研究了闭环动力学，结果表明闭环系统是 USGES 和 UGAS，而欠驱动摇摆动力学仍然有界。仿真表明，重心任务误差收敛到零，验证了理论结果，而在实验中观察到一个小的跨轨误差。