Formation control of a multi-AUVs system based on virtual structure and artificial potential field on SE(3)

In this study, a finite-time velocity-free rendezvous control method is considered for multiple autonomous underwater vehicle (AUV) systems with intermittent undirected communication. First, we develop a distributed finite-time observer for each AUV to estimate its own state information. Second, we design a rendezvous control algorithm that utilizes the estimated state information intermittently through a communication network in the absence of velocity measurement. A homogeneous method is used to prove that all AUVs in the group can achieve rendezvous in finite time for a network with intermittent communication, even without velocity measurements. The proposed method is shown to reduce the communication load of the system. More importantly, the control algorithm achieves the control goal of the system and is proven to be viable for many practical applications of multiple AUV systems from both economic and security perspectives. Finally, the effectiveness of the proposed control protocol is demonstrated via numerical simulations. 

Finite-Time Velocity-Free Rendezvous Control of Multiple AUV Systems With Intermittent Communication

Adaptive energy-efficient tracking control of a X rudder AUV with actuator dynamics and rolling restriction

This paper is concerned with the homing process in which a multi-underactuated AUV recovery system tracks the moving mother submarine in finite time in the presence of uncertain hydrodynamic parameters and unknown environmental disturbances. In the homing stage, underactuated AUVs and the moving mother submarine are treated as followers and the leader, respectively. The multi-underactuated AUV system finite time homing problem is converted to the leader-following finite-time formation control problem. The proposed leader-following formation strategy requires only the position information of the leader. The velocity of the leader can be designed as an additional degrees of freedom to stabilize position errors of the formation. A novel robust adaptive super-twisting sliding mode formation controller (ASTASMC) is proposed, specifically the super-twisting algorithm (STA) with adaptive uncertainty estimation. Wherein, the robust adaptive law can compensate for uncertainty with unknown upper bound in real time. Therefore, the proposed controller can not only enhance the tracking accuracy but also reduce the chattering. In addition, the finite-time convergence of estimation errors and tracking errors is rigorously proved. Finally, simulation results demonstrate the effectiveness of theoretical results. 

Robust adaptive super-twisting sliding mode formation controller for homing of multi-underactuated AUV recovery system with uncertainties.

Distributed observer-based formation trajectory tracking method of leader-following multi-AUV system

Dual closed-loop robust adaptive fast integral terminal sliding mode formation finite-time control for multi-underactuated AUV system in three dimensional space

Multi-time-scale 3-D coordinated formation control for multi-underactuated AUV with uncertainties: Design and stability analysis using singular perturbation methods

Yu Zhang

Papers

Dual closed-loop robust adaptive fast integral terminal sliding mode formation finite-time control for multi-underactuated AUV system in three dimensional space

Multi-time-scale 3-D coordinated formation control for multi-underactuated AUV with uncertainties: Design and stability analysis using singular perturbation methods