Muti-AUV´s formation coordinated control in the presence of communication losses

Based on the path following control of a single autonomous underwater vehicle (AUV), the distributed formation coordinated control of muti-AUV is studied. The proposed distributed formation coordinated controller based on the ISS-Lyapunov stability theory and Small gain theorem. A virtual target technique is used to ensure path-following. Based on this, a ISS system is founded with the input of so-called coordinate variable which can be characterized by the curvature of the path to be followed. The control method is not only applicable to communication unimpeded, but also applicable to communication losses on the performance of the overall AUV formation. Finally, the theoretic proof and simulation results show that the proposed control method is effective on formation coordinated control of muti-AUV.