Distributed Cooperative Guidance Model-Free Control for a Cluster of Disk-Type Autonomous Underwater Gliders

This paper focuses on a distributed cooperative guidance model-free control method for a cluster of under-actuated disk-type autonomous underwater gliders (AUGs) in the presence of unknown kinetic model parameters and ocean disturbances. Firstly, a distributed cooperative motion generator is designed to generate reference path points, and then a cooperative control method is proposed based on the update path parameters. Secondly, a three-dimensional (3D) guidance law is constructed by employing closed 3D vector fields. Finally, data-driven filtered adaptive extended state observers (DFAO) are proposed to deal with the unknown input gains, internal uncertainties and external disturbances of the disk-type AUGs, and an adaptive kinetic control law is designed by using the knowledge learned from the observers. Simulation results demonstrate the effectiveness of the proposed 3D distributed cooperative guidance model-free control method for disk-type AUGs subject to fully unknown kinetics. Note to Practitioners—The disk-type AUG has the characteristic of long operational endurance, capable of functioning continuously for several months when fully loaded. Consequently, this type of glider offers an advantage in establishing oceanic sensor networks. To achieve this goal, two technical challenges arise: the coordination among multiple gliders and the anti-disturbance control of individual glider. Our research focuses on distributed cooperative guidance and model-free control issues for multiple underwater gliders. First, we propose a distributed cooperative guidance scheme to maintain a specific formation among the gliders. Additionally, while ensuring control effectiveness, we employ data-driven methods to estimate uncertain kinetic model parameters. Our approach is not only theoretically viable but also ready for industrial application, thus filling a gap in underwater glider technology.