Multi-UUV Formation Coordination Control Based on Combination of Virtual Structure and Leader

Abstract

This paper addresses the problem of formation path tracking control of multiple unmanned underwater vehicles (UUVs), and proposes a formation control method based on the combination of virtual structure and leader. In the control aspect, it is divided into a single UUV path following control and coordinated control based on a combination of a virtual structure and a leader. First, a path reference point moving along the desired path is defined for each UUV, and then the Serret-Frenet coordinate system is established with the path reference point as the origin to describe the UUV tracking error. For single UUV control, UUV kinematics path tracking controller and dynamic path tracking controller are designed using backstepping and line-of-sight guidance. Finally, in the formation coordination control, the formation coordination control algorithm combining the virtual structure and the leader is adopted so that the formation UUVs move along the desired path at a given desired speed. Under Matlab, simulation results show the effectiveness of this formation control algorithm.