The research of coordination control on distributed multi-agent
Mo Tao, Xianling Li, Xiawei Guan, Zhi Liu, Yi Wei Feng, Ruotong Qu · 2018
Coordination control of multi UUV (unmanned underwater vehicle) navigation is a research focus in the field of Marine engineering. In this paper, the UUV formation control method combining the idea of path reference point and leader-follower formation control algorithm is proposed. The formation controller is designed by using the anti-step method and Lyapunov function. The simulation result shows that both the leader and follower UUV can track the expectation path, and the designed controller has robustness under current interference.