AUV Path Following Formation Control Based on Extended Kalman Filter
Juan Li, Jiaqi Wang, Yuan Ruikun · 2021
Due to the communication constraints between the AUV formation individuals, the performance of the AUV formation control algorithm may decrease, so the Extended Kalman Filter is used to compensate for the delay of the leader signal transmission to the follower controller. Firstly, a formation coordination controller was designed to control the speed of the following AUVs so that multiple AUVs could complete formation control and formation maintenance. Lyapunov stability analysis was used to verify the stability of the system. Then, the Extended Kalman Filter (EKF) method is used to estimate the current position of the leader, improve the accuracy of the leader position information received by the followers, and reduce the formation control error of the system. Simulation results show the effectiveness of the proposed method.