Leader-Following Coordinated Control for Multiple Autonomous Underwater Vehicles Recovery System with Time Varying Delays

In this paper, a leader-following consensus problem of second-order multiple autonomous underwater vehicles recovery system with time-varying delay includes the time delay between AUV and AUV and the time delay between AUV and mothership is considered. The linearization dynamic model of AUV is obtained by the linear method. The mothership is regarded as the leader which is equipped with more accurate sensors. Leader-following coordinated control is used to solve multi-AUVs recovery problem. The stability of the multi-AUVs recovery system is derived by a suitable Lyapunov-Krasovskii functional with communication delay. An example with simulation is presented to illustrate the theoretical results.