Adaptive event-triggered coordination control of unknown autonomous underwater vehicles under communication link faults

Abstract

Coordination control of autonomous underwater vehicles finds broad applications in various marine activities. This paper focuses on the adaptive event-triggered coordination control problem of autonomous underwater vehicles under the effects of nonlinear and coupled dynamics, unknown system parameters, and communication link faults. The limited communication capacity is considered and an event-triggered distributed observer is designed under the effects of communication link faults. Reinforcement learning method is implemented to learn optimal coordination controller to achieve the position formation and the attitude synchronization for autonomous underwater vehicles with unknown dynamics. Simulation results verify the effectiveness of the proposed approach.