Abstract
This study investigates a formation control problem of autonomous underwater vehicles (AUVs) with unknown control directions. By employing the Nussbaum gain technique to deal with the unknown control directions, a finite-time formation control approach is proposed. To deal with the so-called ‘explosion of complexity’ issue in backstepping control, a compensator-based command filter technique is introduced to realise the derivative of virtual control signals. With the proposed method, the formation can be achieved within a finite settling time and all signals in the closed-loop system are uniformly bounded. The effectiveness and performance is demonstrated by numerical simulations.
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