In this paper, the formation control problem is investigated for a team of uncertain underactuated surface vessels (USVs) based on a directed graph. Considering the risk of collision and the limited communication range of USVs, the prescribed performance control (PPC) methodology is employed to ensure collision avoidance and connectivity maintenance. An event-triggered mechanism is designed to reasonably use the limited communication resources. Moreover, neural networks (NNs) and an auxiliary variable are constructed to deal with the problems of uncertain nonlinearities and underactuation, respectively. Then, an event-triggered formation control scheme is proposed to ensure that all signals of the closed-loop system are uniformly ultimately bounded (UUB). Finally, simulation results are presented to demonstrate the effectiveness of the proposed control scheme.

在本文中，基于有向图研究了一组不确定欠驱动水面舰艇 (USV) 的编队控制问题。考虑到碰撞风险和USV有限的通信范围，采用规定的性能控制（PPC）方法来确保避免碰撞和连接维护。事件触发机制旨在合理利用有限的通信资源。此外，构建了神经网络（NN）和辅助变量来分别处理不确定的非线性和欠驱动问题。然后，提出了一种事件触发的编队控制方案，以确保闭环系统的所有信号一致最终有界（UUB）。最后，