Consensus Formation Tracking for Multiple AUV Systems Using Distributed Bioinspired Sliding Mode Control

Consensus formation tracking of multiple autonomous underwater vehicles (AUVs) subject to nonlinear and uncertain dynamics is a challenging problem in robotics. To tackle this challenge, distributed bioinspired sliding mode controller proposed paper. First, the conventional (SMC) presented, consensus addressed on basis graph theory. Next, high frequency chattering issue SMC scheme meanwhile improve robustness noises, approach introduced, which neural dynamic model employed replace sign or saturation function synthesis controllers. Furthermore, input-to-state stability resulting closed-loop system proved presence bounded lumped disturbance by Lyapunov Finally, simulation experiments are conducted demonstrate effectiveness control protocol.