The formation control of unmanned surface vehicles (USVs) while considering communication topology, dynamic model uncertainties, environmental disturbances, and a fast convergence rate is addressed in this paper. First, graph theory introduced to describe the connective relationships establish generalized errors among USVs. Then, second-order nonsingular terminal sliding-mode (SOFNTSMC) designe...

The variable structure control is principally characterized by its robustness with respect to the system’s modeling uncertainties and external disturbances (Decarlo et al. (1988); Filippov (1960); Lopez & Nouri (2006); Utkin (1992)). Sliding Mode Systems are a particular case of the Variable Structure Systems (VSS). They are feedback systems with discontinuous gains switching the system’ s stru...