This study explores the challenge of formation control for unmanned surface vehicles (USVs) with dynamic uncertainties and external disturbances. A hierarchical fixed-time control (HFTC) framework is designed to solve the estimation problem and the formation tracking problem for USVs. The HFTC framework consists of estimators based on the impulsive control, which help the USVs in the network obtain states of leader accurately, and local controllers with fixed-time extended state observer (FTESO), which drive the USVs achieve predefined configuration in fixed time. Through systematic analysis, sufficient conditions are given for guaranteeing the stability and convergence of the studied closed-loop system. Ultimately, this paper presents simulation results to validate the effectiveness of the implemented control scheme.
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