Distributed Adaptive Integral Sliding Mode Attitude Consensus Control for Multiple Autonomous Underwater Vehicles

This paper investigates the attitude consensus problem of multiple Autonomous Underwater Vehicles (AUVs) in the case of communication delay with the directed communication network. A distributed adaptive integral sliding mode controller is designed for each vehicle to track the desired attitude. The inertia uncertainty and external disturbance in the dynamics of AUV are considered in designing the control law. The stability of the multi-AUV system is proved by Lyapunov theory. Finally, the simulation results are given to confirm the effectiveness of the proposed control law.