Focusing on the problem of underactuated surface vehicle (USV) swarm trajectory tracking control with unmodeled dynamics in the context of external environment disturbance and reference signals unknown, this study explores the USV swarm motion decision-making strategy and proposes a finite-time trajectory tracking control scheme.

First, using the Lyapunov function and artificial potential function, combined with the position information of the swarm virtual reference vehicle (SVRV), a swarm motion decision-making strategy with velocity guidance is constructed. Second, a finite-time lumped uncertainty observer (FLUO) is designed to compensate for the unknown information contained in the velocity error equation. Furthermore, a non-singular terminal sliding mode (NTSM) swarm trajectory tracking control method based on FLUO is adopted to design the control law.

Based on the theoretical analysis and simulation experiments, it is proven that the system is stable.

Based on the proposed swarm motion decision-making strategy and FLUO-NTSM tracking control scheme, USVs can maintain their swarm and achieve accurate path tracking.