The leaderless multi-AUV system fault-tolerant consensus strategy under heterogeneous communication topology

In this article, a fault-tolerant consensus control strategy of the leaderless second-order multi-AUV systems, which is partial actuator breakdown, is considered. Based on the linear feedback method, the model of AUV could be linearized. The communication graph is any strongly connected heterogeneous digraph, and the effectiveness of the actuator can be obtained by a physical device or analysis algorithm. The fault-tolerant consensus control strategy is proposed. The fault-tolerant multi-AUV systems’ astringency and stability are proved by Lyapunov functional. A numerical simulation example reveals the effectiveness of the FTCC protocol method.