This paper presents the platoon formation control design for unmanned surface vehicles with input and output constraints. First. Barrier Lyapunov Function (BLF) is employed to ensure the desired line-of-sight (LOS) range. The LOS range should be maintained within the predefined regions between each marine vehicle and its predecessor while the connected platoons track the trajectory. https://www.diegojavierfares.com/flash-pick-Plancha-de-vapor-vertical-Rowenta-Access-Steam-Force-DR8270D1-90-g-min-200-ml-Negro-y-plateado-super-save/