Extended State Observer-Based Distributed Dual Closed-Loop Model Predictive Formation Control for Multi-AUV System

This paper centers around the three-dimensional formation control for autonomous underwater vehicles (AUVs) amidst composite disturbances within intricate ocean. We present a distributed dual closed-loop model predictive control scheme based on an extended state observer (ESO). In the initial phase, a well-designed ESO is employed to effectively compensate for model uncertainties, unknown disturbances, and unmeasured velocities for each AUV. Next, an outer-loop position prediction and inner-loop velocity prediction controller is developed. After considering the complicated constraints, the local optimization problem is solved to determine the optimal inputs. Finally, comparative simulation results under the connected directed topology validate the feasibility and robustness of this method.