Distributed Adaptive Consensus Tracking Control for Multiple AUVs with State Constraints

摘要

The problem of the adaptive consensus tracking for multiple AUV (autonomous underwater vehicle) systems with state constraints is studied in this paper. A command filtered backstepping control scheme with the positions state constraints based on the neutral network is proposed. The unknown nonlinear dynamics are approximated by a neural network in this scheme. It can make the state of following AUV tracks the leader's state with acceptable accuracy. Not only do we eliminate the errors caused by filtering, but we can also solve complex calculation problems well. Through simulation specific examples, proved the feasibility of the control scheme.