A dynamic event-triggered leader-following consensus algorithm for multi-AUVs system

Abstract

A dynamic event-triggered leader-following consensus algorithm is proposed for a multi autonomous underwater vehicle (AUV) system. The nonlinear AUV models are simplified through standard feedback linearization process. For both communication layer and controller layer, the dynamic state-dependent event-triggered technique is used to save AUV's limited communication resources, respectively. Stability analysis is accomplished through Lyapunov method and Zeno behavior is excluded. Numerical simulation illustrates the effectiveness of the proposed algorithm.