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The formation control issue for a group of underactuated unmanned surface vehicles (USVs) is discussed in the paper, and a staged finite-time control strategy for the USVs is proposed. Firstly, we try to steer each USV to its own starting point in the formation for a limited time, under the initial condition that each of these vehicles is parked at random. To deal with the nonholonomic behavior of the system, the dynamics of the USV is transformed into cascade systems. Then, the finite-time controller is designed for each vehicle based on homogeneity theory. After each USV reaches its own starting point with desired orientation, the model of the vehicle is decomposed into two subsystems under the Serret-Frenet frame. In order to maintain the formation pattern, two finite-time distributed controllers are developed for the surge subsystem and the yaw subsystem, respectively. The settling time for the staged control strategy is limited. Numerical simulations are carried out to illustrate the effectiveness of the proposed formation control strategy.

This paper deals with the problems of controller design for a class of MIMO networked control systems. Firstly, a continuous time model of NCSs with multiple input time-delays is proposed. Based on Lyapunov-Krasovskii functional method, some delay-dependent stability criteria for the system are derived. Numerical examples are given finally to illustrate the effectiveness of the method.

The stability problem for singular networked control systems (NCSs) with time-varying delay is considered. Supposed that the sensor is clock-driven, the controller and actuator are event-driven, and the time-varying delay is less than one sampling period. Then, the considered system is modeled as discrete system with input delay. Based on Lyapunov stability theory and linear matrix inequality (LMI) technology, the stability criterion is derived, and the resultant state feedback controller is also given at the same time.

In this paper, the problem of state feedback stabilization for switched singular networked control systems with time-delay is considered. Firstly, the modeling problem is discussed. Suppose the sensor node is time-driven, the controller and executor are event-driven, assuming the sensor data are transmitted with single data packed and the transfer delay is less than one sampled period, the system can be modeled as an linear discrete switched system with delay. By Lyapunov function, we can easily determine the stability of the systems. Using Matlab LMI toolbox, we can obtain the state feedback control law at the same time. Finally, an example is presented to illustrate that the proposed method is efficient.

This paper deals with the problems of delay-dependent stability and controller design for a class of multi-input and multi-output (MIMO) networked control systems (NCSs). The considered systems are modeled as discrete-time systems with multiple input delays. Based on Lyapunov stability theory and linear matrix inequalities (LMIs) techniques, new delay-dependent stability criteria is derived. At the same time, a novel controller design method is proposed, which can be easily obtained by solving some LMIs. Numerical examples are given to illustrate the effectiveness of the proposed method.