Intelligent Trajectory Tracking and Formation Control of Underactuated Autonomous Underwater Vehicles: A Critical Review

AUV play an important role in the exploration and utilization of the ocean. Underactuated autonomous underwater vehicles (AUVs) are widely used in these missions due to the associated low manufacturing costs, low power consumption, and high reliability. Among many control problems of underactuated AUVs, the research of trajectory tracking and formation control methods has become a hot topic in recent years. In order to obtain superior control performance, research on trajectory tracking and formation control of underactuated AUVs based on intelligent control methods should be further advanced and deepened. In this context, we present a survey of intelligent trajectory tracking and formation control of underactuated AUVs, which is beneficial to researchers in this field. To facilitate a comprehensive understanding of the subject matter, we review some preliminary knowledge in trajectory tracking and formation control of underactuated AUVs. We also highlight research problems and challenges, including external disturbances, system characteristics, and system faults. We review recent advances in intelligent trajectory tracking and formation control of underactuated AUVs and analyze and discuss their characteristics. Moreover, we put forward some prospects of advanced control techniques, especially artificial intelligence-based techniques for underactuated AUVs.