Formation Trajectory Tracking of Discrete-Time Distributed Multi-AUVs with Nonconvex Control Inputs and Weak Communication

This paper considers the formation trajectory tracking problem of discrete-time distributed multi-AUVs (multiple autonomous underwater vehicles) with control input in a nonconvex set and weak communication. Firstly, linear model single AUV is obtained by feedback linearization using Lie derivative theory. Then, equation multi-AUV obtained, coordinated system based on given. Secondly, transformed into coordination leader–followers formation. The controller under communication environment designed, satisfies constraints. Next, stability error leader followers at zero coordinate transformation. By establishing an appropriate Lyapunov–Krasovskii function, corresponding matrix inequalities are condition solving Under this condition, stable can be achieved Finally, designed verified simulation experiments.