Formation control analysis and design problems for multiple Autonomous Underwater Vehicle(multi-AUV)systems for ocean survey are investigated in this paper.First,using directed graph as a tool,the information model between AUVs is established,and a consensus based protocol is constructed using local neighboring information.Then,sufficient conditions for multi-AUV systems to achieve time-varying formation tracking are presented.It is obtained that the pre-defined time-varying formation can be achieved by multi-AUV systems if the given time-varying formation meets the condi-tions.Moreover,by transforming the calculation of formation control protocol gain matrix into the solution of algebraic Ric-cati equation,a new method for determining formation control protocol matrix is given.Finally,numerical simulations are provided to demonstrate the effectiveness of the theoretical results.
维普
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