Formation control using finite state automaton based on multi-AUVs state feedback

In this paper, a method based on the followers´ real-time state feedback in the leader-follower formation control of multiple autonomous underwater vehicles (Multi-AUVs) cooperative system is presented. First of all, some classifications of the followers´ possible abnormal conditions will be redefined. Then state feedback strategy of the followers is introduced to the traditional leader-follower method by using the finite state automaton (FSA), each formation control command corresponds to a follower discrete state. We established a FSA model based on the state feedback for special situations where the system has one leader and three followers and some abnormal conditions which will not happen in a real environment are ignored. After that, the FSA model in general condition with N followers is designed. Finally, the formation control method with two followers are demonstrated by simulation tests on a AUV simulation platform based on Matlab, the simulation results show that the FSA based on state feedback strategy performs better in dealing with abnormal conditions of the followers, and the simulation also shows the enhance of the system stability.