Disturbance Estimator-Based Nonsingular Fast Fuzzy Terminal Sliding-Mode Formation Control of Autonomous Underwater Vehicles

This paper proposes a novel disturbance estimator-based nonsingular fast fuzzy terminal sliding-mode formation control method. The leader–follower formation control method is combined with the path planning strategy based on the artificial potential field to be collision-free and move in consensus for each AUV. An improved sliding-mode surface is incorporated into the controller, providing the system’s state with a faster convergence rate away from the stable equilibrium. The chattering problem in the controller is eliminated by designing fuzzy control rules which are derived from the Lyapunov energy function. A disturbance estimator is proposed to compensate for unknown dynamic and disturbances, which enhances the robustness and stability of the system. Simulation and comparison results are provided to show the effectiveness of the proposed method.