Delayed fixed-time distributed formation control for USV with input saturation and its application to pollution area monitoring

Shengjie Yang, Yanjie Li, Zhaoqing Peng, Chao Shen, Hua Chen, College of Environmental, Hohai University, School of Electrical and Power Engineering, Hohai University, School of Mathematics, Hohai University

Journal of Vibration and Control

Published online on January 19, 2026

Abstract

Journal of Vibration and Control, Ahead of Print.
To make USV monitor polluted areas, take into account delayed-time, input saturation, and external disturbances. A delayed fixed-time formation-control solution for unmanned surface vehicles is proposed. First, the polluted area is fitted into a ...