Spatial Synchronized Parallel Formation for Autonomous Underwater Vehicles Fleet

A cooperative control method of particles fleet was developed and used for autonomous underwater vehicles (AUVs) fleet´s synchronized parallel formation in space. Based coupled phase oscillators´ theory, particles model for variable speed was constructed. The velocity matching and virtual leader control law was designed, which was proved to guarantee the AUVs fleet synchronized parallel running along with the orientation of virtual leader. The convergence was analyzed. The numerical simulation results for spatial synchronized parallel formations were presented.