The Coordinate Control of Multi-UUVs Formation with Double Independent Communication Topologies in the Situation of Velocity Information Missing

A new method which combine the consensus algorithm and ESO observer to solve the coordinate control problems of leader-following UUVs formation with no velocity information transferred between the members. As the communication width is limited, a new communication topology is proposed, which divided the traditional one into two independent parts: position communication topology and velocity topology. With the state feedback linearization method, the math model of UUV is changed as a double-integrator dynamic model. Based on this model, the coordinate control can be regarded as a consensus problem with ESO observer. As a result, the sufficient conditions are proposed and proven with Lyapunov theorem. Finally, the simulation results are shown to illustrate the theoretical results.