Formation control of multi-UUV for CTD detection

This paper addresses the problem of multi-UUV formation control for CTD detection. A leader-follower scheme based on decentralized control method is presented here. This method includes formation keeping control and trajectory tracking control. For formation keeping, a separate fuzzy logic controller is designed for formation position, which makes UUV keeping a desired formation. For trajectory tracking, a fuzzy adaptive PID controller is designed to track a sinusoid in vertical plane, and a learning algorithm of rule modifier is introduced to adjust control efforts in the controller. The validity of this control method is supported by simulation experiments.