Improved Multi-UUV Formation Control for Artificial Potential Fields and Virtual Navigators

For the formation control problem of UUV, the problem is decomposed into single UUV path tracking problem and multi-UUV formation control problem, the single UUV path tracker is designed based on the backstepping method, and the system stability is verified by using Lyapunov function, the traditional artificial potential field method is improved for the local.The virtual navigator is introduced to design the multi-UUV formation control system, and finally the RMS-100S is used for the real ship test. The test results show that the established multi-UUV formation control system can effectively realize formation change and hold, and the response time of formation change is kept within 100s, and the distance error is kept within 1m after the formation is stabilized.