SYNCHRONIZED PATH FOLLOWING CONTROL OF MULTIPLE HOMOGENOUS UNDERACTUATED AUVS

This paper addresses the problem of synchronized path following of multiple homogenous underactuated autonomous underwater vehicles (A-UNTs). The dedicated control laws are categorized into two envelopes: One is steering individual underwater vehicle to track along predefined path, and the other is ensuring tracked paths of multiple vehicles to be synchronized, by means of decentralized speed adoption under the constraints of multi-vehicle coniumnication topology. With these two tasks formulation, geometric path following is built on Lyaptinov theory and backstepping techniques, while injecting helmsman behavior into classic individual path following control. Synchronization of path parameters are reached by using a mixture of tools from linear algebra, graph theory and nonlinear control theory. A simple but effective control design on direct inter-vehicle speed adoption with minimized communication variables, enables the multi-AIN systems to be synchronized and stabilized into an invariant manifold, and all speeds converge to desired assignments as a byproduct. Simulation results illustrate the performance of the synchronized path following control laws proposed.