Distributed H∞ Time-Varying Formation Tracking of 3-DOF USVs: A Singular Control Approach

Distributed H∞ Time-Varying Formation Tracking of 3-DOF USVs: A Singular Control Approach | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Distributed H ∞ Time-Varying Formation Tracking of 3-DOF USVs: A Singular Control Approach Shaoyan Liu, Hua Chen, Mengqiu Shen, Yun Chen This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-7703509/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 03 Dec, 2025 Read the published version in Nonlinear Dynamics → Version 1 posted 10 You are reading this latest preprint version Abstract This paper investigates distributed $H_\infty$ time-varying formation tracking of three-degree-of-freedom unmanned surface vehicles within a singular control framework under jointly connected switching topologies. A distributed integral sliding-mode protocol is constructed, together with a nonlinear disturbance observer, to handle time-varying external perturbations whose residual is $L_2$-integrable. On the sliding surface, an energy-based $H_\infty$ criterion is imposed to restrict the closed-loop gain from residual disturbances to formation-tracking errors. By employing Laplacian decomposition under joint connectivity and a Cauchy-type convergence argument, sufficient LMI conditions are established to ensure admissibility (regularity, impulse-freeness, and asymptotic stability) and the feasibility of the prescribed time-varying formation tracking task. The resulting distributed gains are explicitly computable and require only local relative-state information. Numerical simulations are provided to demonstrate the effectiveness of the proposed singular control approach. USVs Formation control Singular system Jointly connected topologies Disturbance observer Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Published Journal Publication published 03 Dec, 2025 Read the published version in Nonlinear Dynamics → Version 1 posted Editorial decision: Revision requested 13 Oct, 2025 Reviews received at journal 13 Oct, 2025 Reviews received at journal 03 Oct, 2025 Reviewers agreed at journal 29 Sep, 2025 Reviewers agreed at journal 29 Sep, 2025 Reviewers agreed at journal 28 Sep, 2025 Reviewers invited by journal 28 Sep, 2025 Editor assigned by journal 28 Sep, 2025 Submission checks completed at journal 26 Sep, 2025 First submitted to journal 24 Sep, 2025 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. 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