Dynamic Event-Triggered Active Disturbance Rejection Formation Control for Constrained Underactuated AUVs

Abstract

This letter addresses the formation control problem for constrained underactuated autonomous underwater vehicles (AUVs). The feasibility condition of the virtual control law is eliminated by introducing a nonlinear state dependence function (NSDF) that transforms the state of each AUV in the formation. Then, the control scheme is constructed based on the new variables after the state transformation combined with the active disturbance rejection control (ADRC) technique to achieve asymmetric time-varying state-constrained control for each AUV. Moreover, a dynamic event-triggered mechanism (DETM) is applied to alleviate the mechanical wear of actuators, and an auxiliary dynamic system (ADS) is employed to address the input saturation. Finally, the advantages and effectiveness of the proposed method are verified by simulations.