Adaptive Cooperative Formation Control of Autonomous Underwater Vehicles Based on Event-Triggered Mechanism

This paper investigates the coordinated motion control problem of autonomous underwater vehicles (AUVs), and an adaptive cooperative formation control method based on event-triggered mechanism is designed. In the estimation of external disturbance and model uncertainty, adaptive parameters are adopted to represent the upper bound of the learning weight matrix, which reduces the computational pressure of the system. It is proved theoretically that the signals in the system are semi-global uniformly ultimately bounded and independent of the initial state of the system. An event-triggered control mechanism is introduced, and the system updates the control law only when the event is triggered. Simulation results show that the controller can achieve the expected formation shape and save the communication resources of the system.