Discrete-time Path Tracking Control of Multiple UUVs Based on Virtual Leader under Time Varying Delay

Abstract

The multiple UUVs(unmanned underwater vehicles) can maintain a certain formation and complete the designated route cruise mission by using the path tracking controller. According to the problem of multiple UUV path tracking under discrete information conditions, a path tracking controller based on virtual leader is proposed in this paper considering communication delays. Firstly, the coupled nonlinear UUV kinematics and dynamics equations are transformed into second-order affine forms by using feedback linearization method, and the mathematical model under discrete time is given. Secondly, the path tracking controller is designed in the case of bounded time delays, and the sufficient conditions are analyzed and proposed based on the matrix theory. Finally, the effectiveness of the proposed algorithm is proved by the simulation experiments, all trajectories of each UUV converge to the desired trajectories under the specific formation.