Decentralized Formation Control of Multiple Autonomous Underwater Vehicles with Input Saturation Using RISE Feedback Method

Decentralized formation control for multiple autonomous underwater vehicles (AUVs) with input saturation is discussed in this paper. In the assumed group communication, each AUV can only obtain information from its adjacent neighbors in the specified communication topology, and only a subset of the AUVs can access the desired trajectory. A robust integral of the sign of the error (RISE) feedback based distributed controller with an anti-windup compensator is proposed so that all group members ultimately synchronize and achieve the desired formation. Based on Lyapunov theory, it is proven that the formation error of each AUV converges to zero. Finally, a simulation example demonstrates the effectiveness of the algorithm.