Formation control of autonomous underwater vehicles under fixed topology

Formation control is a basic problem in cooperation of Multiple Autonomous Underwater Vehicles (AUVs). To address this problem, we proposed a control method under fixed interconnection topology. In our algorithm, each AUV has two competitive objectives, one is following a predefined path, and another is to maintain a geometric configuration with its neighbors. Based on this, we defined the system error function and designed an adaptive sliding variable structure control law for each AUV because of the parameter uncertainty and environmental disturbances. Convergence of the proposed control law was proved in theory. Further, the path variable update law was discussed. Simulation results demonstrate the effectiveness of the proposed control method.