{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,28]],"date-time":"2025-08-28T12:24:36Z","timestamp":1756383876164,"version":"3.41.2"},"reference-count":48,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2022,9,29]],"date-time":"2022-09-29T00:00:00Z","timestamp":1664409600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Neurorobot."],"abstract":"<jats:p>This paper presents a distributed constant bearing guidance and model-free disturbance rejection control method for formation tracking of autonomous surface vehicles subject to fully unknown kinetic model. First, a distributed constant bearing guidance law is designed at the kinematic level to achieve a consensus task. Then, by using an adaptive extended state observer (AESO) to estimate the total uncertainties and unknown input coefficients, a simplified model-free kinetic controller is designed based on a dynamic surface control (DSC) design. It is proven that the closed-loop system is input-to-state stable The stability of the closed-loop system is established. A salient feature of the proposed method is that a cooperative behavior can be achieved without knowing any priori information. An application to formation control of autonomous surface vehicles is given to show the efficacy of the proposed integrated distributed constant bearing guidance and model-free disturbance rejection control.<\/jats:p>","DOI":"10.3389\/fnbot.2022.1028656","type":"journal-article","created":{"date-parts":[[2022,9,29]],"date-time":"2022-09-29T15:03:37Z","timestamp":1664463817000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":1,"title":["Distributed model-free formation control of networked fully-actuated autonomous surface vehicles"],"prefix":"10.3389","volume":"16","author":[{"given":"Xiaobing","family":"Niu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shengnan","family":"Gao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhibin","family":"Xu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shiliang","family":"Feng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1965","published-online":{"date-parts":[[2022,9,29]]},"reference":[{"key":"B1","doi-asserted-by":"publisher","first-page":"5942","DOI":"10.1109\/IROS.2006.282477","article-title":"\u201cFormation control of underactuated surface vessels using the Null-Space-Based behavioral control,\u201d","author":"Arrichiello","year":"2006","journal-title":"IEEE\/RSJ International Conference on Intelligent Robots"},{"key":"B2","doi-asserted-by":"publisher","first-page":"1160","DOI":"10.1109\/TNN.2007.899197","article-title":"Novel l1 neural network adaptive control architecture with guaranteed transient performance","volume":"18","author":"Cao","year":"2007","journal-title":"IEEE Trans. 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