Multi-agent Distributed Formation Control Based on Improved Artificial Potential Field and Neural Network for Connectivity Preservation
Bao Chen, Hongjun Ma, Haobo Kang, Xinkai Liang · 2021 IEEE International Conference on Unmanned Systems (ICUS) · 2021
In this brief, the collision avoidance and connectivity-preserving problems of autonomous underwater vehicles (AUVs) are investigated. For the sake of achieving these two goals more effectively, a novel distributed formation control scheme combined with artificial potential function is designed. Considering the disturbances of control input nonlinearities and the model uncertainties, we design a sliding mode controller based on RBF neural network. Then by Lyapunov method, we verify the stability of control strategy. At last, we establish a multi-AUVs model and simulate the control scheme with MATLAB. The effectiveness of the control strategy is testified by the simulations.