[4] [4] MU D D, LI L, WANG G F, et al. State constrained path following of underactuated unmanned surface vehicles subjected to dynamic unknowns and environmental disturbances［J］. Journal of Marine Science and Technology, 2023, 28(2): 536-550.

[5] [5] ZHU D J, YANG S X, BIGLARBEGIAN M. A fuzzy logic-based cascade control without actuator saturation for the unmanned underwater vehicle trajectory tracking［J］. Journal of Intelligent & Robotic Systems, 2022, 106(2): 39-52.

[6] [6] LIANG X L, WANG N. Adaptive leader-follower formation for unmanned surface vehicles subject to output constraints［J］. International Journal of Fuzzy Systems, 2020, 22(2): 2493-2503.

[7] [7] CUI R, GE S S, HOW B V E, et al. Leader-follower formation control of underactuated autonomous underwater vehicles［J］. Ocean Engineering, 2010, 37: 1491-1502.

[8] [8] PENG Z H, WANG J, WANG D. Distributed containment maneuvering of multiple marine vessels via neurodynamics-based output feedback［J］. IEEE Transactions on Industrial Electronics, 2017, 64(5): 3831-3839.

[9] [9] HE S D, WANG M, DAI S L, et al. Leader-follower formation control of USVs with prescribed performance and collision avoidance［J］. IEEE Transactions on Industrial Informatics, 2019, 15(1): 572-581.

[10] [10] HUANG C F, ZHANG X K, ZHANG G Q, et al. Robust practical fixed-time leader-follower formation control for underactuated autonomous surface vessels using event-triggered mechanism［J］. Ocean Engineering, 2021, 233: 109026.

[11] [11] CHENG W L, ZHANG K, JIANG B, et al. Fixed-time fault-tolerant formation control for heterogeneous multi-agent systems with parameter uncertainties and disturbances［J］. IEEE Transactions on Circuits and Systems I: Regular Papers, 2021, 68(5): 2121-2133.

[12] [12] ZUO Z Y. Nonsingular fixed-time consensus tracking for second-order multi-agent networks［J］. Automatica, 2015, 54 (C): 305-309.

[13] [13] POLVALKOW A. Nonlinear feedback design for fixed-time stabilization of line［J］. IEEE Transactions on Automatic Control, 2012, 57(8): 2106-2110.

[14] [14] WANG R, SI C L, MA H, et al. Adaptive event-triggered global asymptotic full-state stabilization of under-actuated surface vessels with unknown model parameters［J］. Ocean Engineering, 2022, 253: 111194.

[15] [15] SU B, WANG H B, WANG Y L. Dynamic event-triggered formation control for AUVs with fixed-time integral sliding mode disturbance observer［J］. Ocean Engineering, 2021, 240: 109893.

[16] [16] WANG N, LYU S L, ZHANG W L, et al. Finite-time observer based accurate tracking control of a marine vehicle with complex unknowns［J］. Ocean Engineering, 2017, 145: 406-415.

[17] [17] ZHANG G Q, HUANG C F, LI J Q, et al. Constrained coordinated path-following control for underactuated surface vessels with the disturbance rejection mechanism［J］. Ocean Engineering, 2020, 196: 106725.

[18] [18] ZHOU X Y, WANG H P, WU K, et al. Fixed-time neural network trajectory tracking control for the rigid-flexible coupled robotic mechanisms with large beam-deflections［J］. Applied Mathematical Modelling, 2023, 118: 665-691.

[19] [19] YU R, ZHU Q, XIA G, et al. Sliding mode tracking control of an underactuated surface vessel［J］. IET Control Theory & Applications, 2012, 6(3): 461-466.