针对一组欠驱动无人艇协同编队在航行中跟随艇无法获得领航艇的速度信息问题，提出一种基于改进线性扩展状态观测器(ILESO)的多无人艇协同编队控制方法：首先，考虑到速度传感器故障或通信断开时领航艇的速度信息难以获得，设计ILESO实时估计未知速度信息；其次，在此基础上结合领航—跟随下多无人艇协同编队误差模型，利用backstepping和李雅普诺夫理论设计编队控制律，同时将横向速度误差与相对艏向误差看做同一子系统一同镇定，巧妙地将不能直接补偿的横向力转移到可直接控制的转艏力矩上；最后，利用李雅普诺夫稳定性理论证明整个协同编队是全局一致有界稳定的。仿真结果验证了该方法是稳定有效的。

A cooperative formation control method based on improved linear extended state observer (ILESO) was proposed for a group of underactuated unmanned vehicles (UUVs) without the speed information from the leader unmanned surface vehicle (USV) during navigation. Firstly, as the speed information of the leader USV was difficult to obtain when the speed sensor failure or communication was disconnected, ILESO was designed to estimate unknown speed information in real time. Secondly, on this basis, by combining cooperative formation error model of multiple unmanned vehicle under Leader-Follower state, the formation control laws were designed by backstepping and Lyapunov theory, and in the same time the lateral speed error and relative yaw angle error were considered as the same subsystem to transfer the lateral force which cannot be compensated directly to the yaw moment which can be directly controlled. Finally, the stability of whole cooperative formation was proved by Lyapunov stability theory. The simulation results demonstrate the stability and effectiveness of the proposed method.