Jian Wang,∗ Zhen Hu,∗ Hua Zhang,∗ Chao Zhang,∗ and Lingling Xu∗
Autonomous underwater vehicle (AUV), formation control, limited communication, virtual follower, dual-coordinated control
To address the challenge of underactuated autonomous underwater vehicle (AUV) formation control in a limited communication underwater environment characterised by limited bandwidth, significant delay, and potential loss of communication, we propose a formation control method that combines virtual follower and dual coordination control. First, virtual followers are acquired based on the actual position of each follower and the desired formation. Second, a dual coordination control encompassing position and speed is implemented to ensure the structural stability of the formation even in scenarios involving communication frame loss. Third, we use the Serret–Frenet coordinate system and Lyapunov theory to derive a position and velocity coordination control law to address the challenge of underactuated control and limited bandwidth. Finally, the incremental micro-segmentation algorithm is employed to address the issue of communication delay. The theoretical simulations and test of “Haixiang-500XP” AUVs demonstrate that the dual-coordinated formation control is capable of adapting to the limited underwater communication environment, thereby achieving stable and reliable formation control.
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