Adaptive Formation Control of Multiple Underactuated Autonomous Underwater Vehicles

In this paper, we present a 3D formation control scheme for group of torpedo-type underactuated autonomous underwater vehicles (AUVs). These multiple AUVs combined with an unmanned surface vessel (USV) construct sort star-topology acoustic communication network where the USV is at center point. Due to kind topological feature, paper applies virtual school concept. This geometric graph each node taken as leader specific AUV and assigned its own reference trajectory. For individual vehicle, strategy simple: just follow trajectory corresponding so compose given formation. As subject, mainly focuses on tracking problem rather than producing. vehicle considered in there are only three inputs (surge force, pitch, yaw moments) available motion therefore typical system. following vehicle’s trajectory, potential field method used obstacle avoidance, neural network-based adaptive applied on-line approximate unknown nonlinear dynamics, uncertainty terms including modeling errors, measurement noises, external disturbances handled by properly designed robust scheme. The proposed can guarantee uniform ultimate boundedness (UUB) closed-loop Numerical studies also carried out verify effectiveness