Passivity-based Formation Control of Autonomous Underwater Vehicles with Input Disturbances

This paper addresses the formation keeping of a network of Port-Controlled Hamiltonian(PCH) AUV multi-agent systems. The objective is solved by interconnecting agents with virtual couplings based on the internal principle, which can look into the energy consumption. Firstly, the controller for tracking estimated velocity is designed by ultilizing Hamiltonian theory. We assume that the desired velocity is time-varying and only known to part of the agents. Sencondly, an observer based on internal model is designed to overcome the input disturbances by adding extended states, while preserving the PCH form. Numerical simulation results are given to illustrate the effectiveness of the approach.