Formation Control Based on Nonlinear Model Predictive Control Under Dynamic Topology Switching

This paper proposes a control method for multi-autonomous underwater vehicles (AUVs) formation based on nonlinear model prediction control under dynamic topology switching for multi-AUV formation trajectory tracking, which is susceptible to unreliable communication topology in a complex marine environment. This method establishes a nonlinear formation predictive control (NMPC) framework based on topology switching that allows topology change at the controller level. Then, A formation cooperative cost function is designed based on ensuring distributed predictive control to transform the formation trajectory tracking problem into an optimization problem under constraints. It follows from the theoretical analysis that the predictive control under dynamic topology switching has finite-time convergence. Finally, numerical simulation results are exhibited for the coordination and stability of the proposed predictive control method.