A Staged Finite-Time Control Strategy for Formation of Underactuated Unmanned Surface Vehicles

Table 1

Initial and desired states of the USVs.

Initial states	USV1: [−30, 60, π/3, 0, 0,−π/18]
	USV2: [-20,-30, π/2, 0, 0,−π/18]
	USV3: [50,-50,−π/4, 0, 0, π/18]
Desired states in formation	USV1: [0, 10, 0, 0, 0, 0]
	USV2: [6.3, 0.2, π/50, 0, 0, 0]
	USV3: [0, −10, 0, 0, 0, 0]