Adaptive distributed formation control of multiple autonomous underwater vehicles

In this paper, we propose an adaptive distributed control for a group of autonomous underwater vehicles (AUVs). In comparison with previous studies on formation control of multiple AUVs, the hydrodynamic parameter uncertainties of the vehicles are incorporated into the formation control law. Moreover, a distributed controller is presented in order to deal with communication constraints imposed by limited bandwidth in underwater environment. We suggest the distributed control laws using adaptive control techniques and standard control methods in a two loop design approach. To deal with the uncertainties, an adaptive control rule, mainly based on inverse dynamics of the plant, is developed. Numerical simulations have been carried on in order to approve the capability of the proposed method.