Finite-time adaptive consensus tracking control algorithm for distributed multiple AUVs

In this paper, the distributed adaptive finite-time consensus tracking control algorithm is proposed for multi-AUV(autonomous underwater vehicle) systems. Firstly, the graph theory is used to describe the communication topology of multi-AUV system. Secondly, a nonsingular fast terminal sliding mode is designed and the distributed control law is constructed for the multi-AUV system based on the force analysis of a single AUV. Moreover, the adaptive law is introduced to estimate the upper bounds of internal uncertainties and external disturbances. At last, the simulation which based on SIMULINK is used to verify the tracking effects of position and velocity for following AUVs. The results illustrate the effectiveness of proposed algorithm.