Prescribed Performance Formation Control Method of Multiple Autonomous Underwater Vehicles Based on Leader-follower

Abstract

Aiming at the issue of multiple autonomous underwater vehicles (MAUVs) for formation control based on leader-follower, a formation control method with double closed-loop control structure and using prescribed performance control (PPC) is proposed. In the body coordinate frame, the formation kinematics error model of MAUVs is established. According to the dynamic performance and steady-state accuracy of expected effect, the prescribed performance function is designed to limit the formation position error within the prescribed range, so that the collision between leader AUV and follower AUV can be avoided in the process of formation. Constructing double closed-loop structure using Backstepping method and sliding mode control (SMC) method ensures MAUVs can form formation quickly and stably. Using Lyapunov method to prove asymptotic stabilization of system. Finally, combining with simulation and comparison with linear feedback method shows that the method is effective.