{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,10]],"date-time":"2025-12-10T08:54:18Z","timestamp":1765356858137,"version":"3.41.2"},"reference-count":38,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2021,1,13]],"date-time":"2021-01-13T00:00:00Z","timestamp":1610496000000},"content-version":"vor","delay-in-days":12,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61903163"],"award-info":[{"award-number":["61903163"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Complexity"],"published-print":{"date-parts":[[2021,1]]},"abstract":"<jats:p>The formation control issue for a group of underactuated unmanned surface vehicles (USVs) is discussed in the paper, and a staged finite\u2010time control strategy for the USVs is proposed. Firstly, we try to steer each USV to its own starting point in the formation for a limited time, under the initial condition that each of these vehicles is parked at random. To deal with the nonholonomic behavior of the system, the dynamics of the USV is transformed into cascade systems. Then, the finite\u2010time controller is designed for each vehicle based on homogeneity theory. After each USV reaches its own starting point with desired orientation, the model of the vehicle is decomposed into two subsystems under the Serret\u2010Frenet frame. In order to maintain the formation pattern, two finite\u2010time distributed controllers are developed for the surge subsystem and the yaw subsystem, respectively. The settling time for the staged control strategy is limited. Numerical simulations are carried out to illustrate the effectiveness of the proposed formation control strategy.<\/jats:p>","DOI":"10.1155\/2021\/6695221","type":"journal-article","created":{"date-parts":[[2021,1,14]],"date-time":"2021-01-14T00:20:05Z","timestamp":1610583605000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["A Staged Finite\u2010Time Control Strategy for Formation of Underactuated Unmanned Surface Vehicles"],"prefix":"10.1155","volume":"2021","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0734-9059","authenticated-orcid":false,"given":"Hui","family":"Ye","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7767-7138","authenticated-orcid":false,"given":"Xiaofei","family":"Yang","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7109-2833","authenticated-orcid":false,"given":"Chunxiao","family":"Ge","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0372-4931","authenticated-orcid":false,"given":"Zhaoping","family":"Du","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2021,1,13]]},"reference":[{"key":"e_1_2_10_1_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2016.04.018"},{"key":"e_1_2_10_2_2","doi-asserted-by":"publisher","DOI":"10.1515\/ijnaoe-2015-0058"},{"key":"e_1_2_10_3_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11771-016-3082-4"},{"key":"e_1_2_10_4_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11771-015-2512-z"},{"key":"e_1_2_10_5_2","doi-asserted-by":"publisher","DOI":"10.1515\/pomr-2017-0001"},{"key":"e_1_2_10_6_2","doi-asserted-by":"publisher","DOI":"10.1080\/00207170601052766"},{"key":"e_1_2_10_7_2","unstructured":"ZhangZ. 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