Research on testing and evaluation of USV formation control based on nonlinear dynamic inversion

Abstract

In this paper, a formation controller based on nonlinear dynamic inversion (NLDI) is proposed to maintain the formation of unmanned surface vehicles (USVs). The formation controller is designed to have an inner loop and outer loop. The desired heading angle and speed required for the inner loop of follower are obtained by NLDI algorithm. The performance of the designed formation controller is verified by the test results of USV formation sailing, and the NLDI algorithm can keep the formation stable by minimize the forward and lateral distance errors.