Cooperative Diving of Multi-AUV System with Self-triggered Mechanism

A self-triggered distributed model predictive control (DMPC) approach is proposed in this paper for the cooperative diving of a multi-autonomous underwater vehicle (AUV) system. In order to realize cooperative diving of the multi-AUV system, we design a basic DMPC mechanism with a stability condition which is easy to be realized. Then, a self-triggering mechanism is introduced into the basic DMPC approach which saves communication and computation resources. In the self-triggered mechanism, the maximum time instant that is inside the terminal region decides the triggering interval. The triggering interval is decided after solving the optimization problem, therefore helps reduce the computation burden at each control loop. Lastly, numerical examples are provided to verify the effectiveness of the proposed method.