Improved Virtual Leader Based Formation Control for Nonholonomic Multi-UUV

In older to solve the potential singularity problem brought from the polar coordinate representation, and eliminate the offset caused by off-axis point in the feedback linearization formation control approach, a novel improved virtual leader based formation control for nonholonomic multi-UUV is proposed, the kinematics model of which is established using Cartesian coordinates. Then, the global-level formation control is transformed into the problem that the followers track their virtual leader. Next, a globally dynamic feedback tracking controller is designed based on the direct Lyapunov method. Finally, simulation results are given to demonstrate that the proposed model and controller are feasible.