Distributed adaptive consensus tracking control for multiple AUVs

摘要

This paper is concerned with the adaptive consensus tracking problem for multi-AUV (autonomous underwater vehicle) systems with uncertain parameters. A neutral network-based command filtered backstepping control scheme is developed, which can guarantee the consensus tracking error of position converging to the desired neighborhood. Moreover, the proposed control scheme is completely distributed, since the control laws only use the local information. An example is given to show the effectiveness of the proposed method.