Formation coordinated control for multi-AUV based on spatial curve path tracking

This paper addresses the problem of multi-AUV along given spatial paths with a given forward speed profile while holding a desired formation pattern in three-dimensional space. The decentralized controller is proposed to realize the coordinated path tracking of multiple AUVs. With this set-up, path tracking and speed coordination are designed decoupled. The kinernatic and dynamic path tracking controller is designed to reduce the position error and speed error between the vehicle and the virtual reference target, respectively. The algebraic graph theory is used to build complex underwater communication network. The coordination error model is established by the topology of the communication network. The coordination controller is designed to adjust the speed of virtual reference target so as to achieve a desired formation pattern.