Relative-Information-Based Adaptive Formation Control Method for Heterogeneous Nonlinear Uncertain Multi-Underwater-Unmanned System*

This study presents a formation control method based on relative information for heterogeneous nonlinear uncertain underwater unmanned system. Furthermore, the robustness of the proposed method is strong without prior knowledge. Moreover, the convergence boundary of the tracking error system can be predefined. In addition, the results of this research can be a foundational method for other formation planning strategies.