Coordinate control of multi-AUVs under double independent topologies and time delay

This paper introduces a new method which uses the consensus algorithm to solve the coordinate control problems of multi-AUVs. As the communication between the AUVs is difficult and easy to be interfered under the water, there must be time delay and data drop during the members communicate with each other. On the other hand, the math model of AUV is nonlinear and coupling, the feedback linearization can be used to make the complex model of AUV into double-integrator dynamic. With this simplified math model, the AUV formation coordinate control can be regarded as consensus problem. In addition, the double independent position and velocity topologies are used to responded to the shortage of bandwidth in real communication under the water.