自主水面航行器（ASV）作为人类认识海洋、开发海洋和保护海洋的重要工具，在军事和民用领域都具有广泛的应用。协同性是衡量ASV自主化与智能化程度的重要技术指标，具有前瞻性和基础性，是海洋航行器控制研究发展的关键领域之一。项目以提高ASV群的协同性为目的，在分散传感、分布决策、局部通信条件下，针对具有环境复杂性、模型不确定、执行机构约束下的ASV群系统，深入探索面向任务区域的网络互联ASV群协同跟踪控制原理，构建通讯、制导、控制一体化的协同控制器设计方法，综合应用凸集、图论、矩阵分析、Lyapuonv稳定性理论、奇异摄动分析等工具分析闭环网络的稳态与瞬态性能，并在物理实验平台上对控制算法有效性进行试验与验证。通过深入细致的研究，建立系统而完善的ASV群协同跟踪控制理论与方法，为多ASV协同海洋作业打下坚实的基础，从理论和实践两方面进一步推动海洋航行器协同控制研究的进步与发展。

Autonomous surface vehicle (ASV), as an important tool to uncover, explore, and protect the sea, has broad applications in both military and civilian fields. The cooperativity is an indicator to weight the autonomy and intelligence of an ASV. It is prospective and fundamental, and is the key research area of marine vehicles. In order to improve the cooperativity for a group of ASVs in the presence of environmental complexity, model uncertainty, and actuator constraint, especially under the conditions of decentralized sensings, distributed decision-makings, and local communications, this project aims to explore the task region-oriented coordinated tracking control principles for the group, establish the coordinated controller design method by integrating communication, guidance and control, and analyze the steady and transient performance of networked systems by resorting to the tools from convex sets, graph theory, matrix analysis, Lyapunov stability theory, singular perturbations analysis, etc.The effectiveness of the proposed control algorithms will be verified and validated based on our physically experimental platform. Through deep and meticulous research, this project will establish systematic and self-contained theory and methods for coordinated tracking control of ASVs, and lay a solid foundation for collaborative marine operations for multiple ASVs. The successful completion of the proposed project will significantly advance the improvements and frontiers for cooperative control of marine vehicles in both theory and practice.