Consensus Control of UUVs Formation Under Position and Velocity Topologies with Different Time-Varying Delays

A new method which applied consensus algorithm to solve the coordinate control problems of leader-following UUVs formation. In order to overcome the limited communication width, a new topology type which divided the traditional communication topology into two independent parts: position communication topology and velocity communication topology is proposed. And in the novel communication topologies there are different time-varying delays. In additions, the math model of UUV is nonlinear and coupled. With the help of state feedback linearization method, the nonlinear math model of UUV can be transferred into a double-integrator dynamic model. Based on the result of linearized model, the leader-following UUVs formation coordinate control can be regarded as a consensus problem with different time-varying communication delays. As a result, sufficient conditions for the stability of system are proposed and they are proven by using the Laypunov-Razumikhin theorem. In the end, the simulation results are presented to confirm and illustrate the theoretical results.