Event-triggered adaptive fuzzy bipartite consensus control of multiple autonomous underwater vehicles

This article studies the problem of event-triggered distributed adaptive bipartite consensus control for multiple autonomous underwater vehicle (AUV) systems with a fixed topology. Different from the existing literature on multiple AUV systems, the competitive relationship among AUVs is taken into consideration. In this situation, the bipartite consensus control is implemented to complete the controller design. Furthermore, combing the relative threshold strategy and the backstepping method, an adaptive event-triggered control scheme is developed to decrease the updating frequency of control input. Through the Lyapunov analysis, the proposed protocol ensures that the position tracking error of the considered system converges to a small neighbourhood near the origin. Finally, a simulation example is given to show the effectiveness of the control scheme.