Finite-time coordinated formation control of discrete-time multi-AUV with input saturation under alterable weighted topology and time-varying delay

Abstract

This paper concentrates on the issue of finite-time coordinated formation control of discrete-time multiple autonomous underwater vehicles (AUVs) with input saturation and time-varying communication delay under alterable weighted topology. Firstly, the nonlinear kinematic and dynamic equations of the AUV are represented as an affine nonlinear system, which is then transformed into a discrete-time model. Then, by introducing auxiliary control, the coordinated controller with saturation constraints is designed for the multi-AUV system, and the state error system between followers and virtual leader is established. Based on matrix theory and associated definition of stability, sufficient conditions consisting of inequalities to ensure that the error system is stable are derived in the absence and presence of communication delay, respectively. These conditions ensure the multi-AUV system can achieve required formation in finite time. Finally, some simulations are shown to prove the validity of the control framework and theoretical results. And simulation comparisons indicate the significance of communication topology and time delay to the control system.