Formation Coordinated Control for UUVs Based on Position-Velocity Communication Topology

In this paper, in terms of the system structure of a single unmanned underwater vehicle (UUV), combined with the autonomous and coordinated requirements of UUVs in the formation, the multi-UUVs formation distributed control system is constructed, based on coordinated layer. Using the UUV non-linear coupling model as the control object, the multi-UUVs formation coordinated control system is constructed, based on precise feedback linearization. Aiming at the limitation of hydro-acoustics communication bandwidth and the delay of communication system, a UUV formation coordination control method is proposed, based on double independent communication topologies. Under the conditions of double-layer communication topology, each UUV receives the position and velocity status information of other members at the same time. And using the consistency theory verifies the stability of the multi-UUVs formation. Lastly, the stability of multi-UUVs formation in traditional topology and double-layer topology is simulated and verified, respectively.