Multi-AUV Circular Formation Sliding Mode Control Based on Cyclic Pursuit
Juan Li, Xinnian Chen · 2020
A circular formation control algorithm based on cyclic pursuit is proposed to solve the problem of multiple (Autonomous Underwater Vehicles)AUVs hunting the moving target. By specifying a formation member to obtain the position of the moving target in the inertial coordinate frame and pass this information to the remaining members of the formation, formation members can convert their position in the target coordinate frame to the position in the inertial coordinate frame, that is, the expected real-time trajectory of the AUV circular formation in the inertial coordinate system. AUV trajectory tracking kinematics controller and dynamics controller are designed by constructing position error sliding mode surface and velocity error sliding mode surface respectively. The AUV's tracking of the expected trajectory is transformed into the control of the virtual velocity error, and finally the AUV completes the real-time tracking of the expected trajectory. The feasibility of the algorithm is verified by simulation.