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This paper addresses the distributed swarm control problem of multiple unmanned surface vehicles (USVs) in Euclidean space with virtual leader. Firstly, to investigate the topology of the neighborhood relations between vehicles, a new time-variant topology structure is proposed. Secondly, to research the dynamic properties of the group for the case where the number of virtual leader is different, a grouping method based on cosine similarity is proposed. Thirdly, to ensure the high effeciency of information transmission and the reduction of costs, a distributed swarm control algorithm is proposed, which is mainly composed of three parts: gradient descent term, velocity consensus term and navigational feedback term. To analyze the stability of system, the concept of translation framework is introduced. Based on the properties of the Hamiltonian and LaSalle invariance principle, the stability of multiple USVs swarm motion is proved. Finally, simulation results illustrate the effectiveness of the proposed methods.

Distributed Swarm Control Algorithm of Multiple Unmanned Surface Vehicles Based on Grouping Method