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.countryscenesaddleryandpetsuppliers.shop/product-category/roping-saddle/