Abstract

The purpose of this paper is to design a distributed leader-following control method combining consensus theory and artificial potential field method (CMM-AUV) for the multi AUV system with a leader. CMM-AUV can make the multi-AUV system maintain a circular formation in the two-dimensional plane with the leader AUV as the center, any desired distance r within the communication range as a radius and the angle between each follower AUV is equal. Moreover considering the problem that the underwater communication between AUVs is interrupted due to time delay or data loss, the nonlinear coupling term in the AUV mathematical model is processed by the state feedback linearization theory to convert it into a double integrator dynamic model. In CMM-AUV, the artificial potential field method is used to control the multi-AUV system to form the desired circular formation and the angle between the adjacent two follower AUVs is equal. Besides, the consensus theory and the speed communication topology are used to control the formation of multi-AUV systems to achieve the speed and heading consensus. The stability of the controller is proved by Lyapunov Method and LaSalle Invariance Principle. A simulation example is presented for illustrating effectiveness of the proposed formation controller.

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