Research on guaranteed cost formation tracking control of multi-AUV with virtual leader

This paper is devoted to solving the guaranteed cost formation tracking control of multi-AUV with switching topology communication. Initially, a distributed control protocol is proposed, which not only realizes formation tracking control of multi-AUV system, but also considers the characteristics of switching topology communication between individuals. Then, taking the variable speed characteristics of the virtual leader and the external disturbances suffered by the system into account, a dynamic guaranteed cost function is designed in this paper, which is conducive to selecting the controller gains with the optimal performance. By adopting Lyapunov-Krasovskii method, some sufficient conditions are derived to achieve formation tracking and guaranteed cost control for the multi-AUV system under unknown disturbance. Finally, simulation results illustrate the effectiveness of the proposed formation tracking control scheme.