Trajectory Tracking Control of Multi-AUVs Formation based on Virtual Leader

With the continuous development of marine resources, the research of multi-AUVs formation trajectory tracking control has become one of the important research directions of multi-AUVs formation control. The article proposes a control method for multi-AUVs formation trajectory tracking with guidance-control structure design based on the formation control strategy of virtual pilot and the passivity of Euler-Lagrangian error system under directed communication conditions. Based on the virtual pilot, the multi-AUVs formation control and multi-AUVs trajectory tracking control tasks are completed. In terms of the guidance system, the passive pilot is used to design the mobile controller of the virtual pilot AUV. In terms of the control system, combined with the passivity of the Euler-Lagrangian error system, a passive formation controller and a trajectory tracking controller are designed. Ultimately, multiple AUVs are formed into a fixed formation, and the virtual pilot AUV is strictly tracked. Finally, the paper uses the stability principle of Lyapulov and the related properties of the directed equilibrium diagram to prove the stability of the whole system, and carries out simulation verification under the condition of ocean current disturbance, which shows the selected control strategy and the correctness of the control method.