Time-varying group formation tracking control for multi-AUV with Markovian switching topologies and multiple leaders

This paper proposes a study on the time-varying group formation tracking control problem of multi-AUV system with Markovian switching topologies and multiple leaders. The Markovian switching communication topology of the AUV is established by graph theory and Markovian process theory, and a novel distributed leader-following group formation control protocol with time-varying delay for multi-AUV systems is developed based on the model of the AUV,it is proved that the follower AUVs’ states can achieve consensus of leader’s state by using the proposed controller. Finally, simulation experiment is provided to verify the effectiveness of this method.