Swarm Control for Multiple Unmanned Surface Vehicles with Unknown Time-Varying Environmental Disturbance and Input Saturation

Table 3

Specific values of simulation test and comparison test.

	Performance parameter	Values
Consider ADS	Convergence time	24.0 s
No ADS	Convergence time	31.2 s
Consider input saturation	and	2 N
No input saturation	and	200 N
Consider input saturation		1.5 Nm
No input saturation		150 Nm