Coordinated Control of Multiple AUVs with Nonconvex Control Input Constraints

In this paper, the coordinated control of discrete-time distributed multiple autonomous underwater vehicles (AUV) considering control inputs on non-convex sets after feedback linearization is studied. A constraint operator is introduced to establish the mapping of relationships between control input and non-convex set. We propose two different discrete-time distributed constraint control laws considering the cases of no communication delay and bounded communication delays. The equivalent system of the multi-AUV system is found by constructing a random matrix. The conditions that the multi-AUV system can achieve consensus in the position state with the velocity of zero are given. The effectiveness of the two proposed controllers is verified by simulation experiments, respectively.