[1] MORTEN B, HOVSTEIN V E, FOSSEN T I. Straight-line target tracking for unmanned surface vehicles[J]. Modeling, Identification and Control (MIC), 29, 131-149(2008).

[2] LI T S, ZHAO R, CHEN C L P et al. Finite-time formation control of under-actuated ships using nonlinear sliding mode control[J]. IEEE Transactions on Cybernetics, 3243-3253(2018).

[3] DO K D. Global robust adaptive path-tracking control of underactuated ships under stochastic disturbances[J]. Ocean Engineering, 111, 267-278(2016).

[4] PENG Z H, WANG J, WANG D. Distributed maneuvering of autonomous surface vehicles based on neurodynamic optimization and fuzzy approximation[J]. IEEE Transactions on Control Systems Technology, 26, 1083-1090(2017).

[6] 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, 64, 3831-3839(2017).

[7] DO K D. Synchronization motion tracking control of multiple underactuated ships with collision avoidance[J]. IEEE Transactions on Industrial Electronics, 63, 2976-2989(2016).

[10] LYU C X, YU H S, CHI J R et al. A hybrid coordination con-troller for speed and heading control of underactuated unmanned surface vehicles system[J]. Ocean Engineering, 176, 222-230(2019).

[11] [11] FOSSEN T I. Hbook of marine craft hydrodynamics motion control[M]. Hoboken, NJ: John Wiley & Sons, 2011.

[13] PENG Z H, WANG D, LAN W Y et al. Robust leader-follower formation tracking control of multiple underactuated surface vessels[J]. China Ocean Engineering, 26, 521-534(2012).