Formation control of a multi-AUVs system based on virtual structure and artificial potential field on SE(3)

This paper presents a formation control method for multiple underwater vehicles that combines artificial potential field and virtual structure. Facing the problem of attitude adjustment in the deployment of AUV and the detection of undulating seabed terrain, a method of finite-time position and attitude tracking control method combined with artificial potential field and virtual structure is presented. We complete the guidance and control in the space of the special Euclidean group of rigid body motions which is SE(3) under the framework of geometric mechanics. The control method we give makes the difference between the trajectory of the AUV and the expected trajectory stabilize to zero in finite time. After that, we give a control method on the attitude, so that the designated pointing vector in the body fixed frame of the AUV converges to the desired direction within a finite-time. This control method of combining artificial potential field and virtual structure can ensure that the AUVs avoid collisions with each other during the dive, and form and change the formation after reaching the set depth. A formation travel plan based on the distance to the seabed for attitude transformation was designed. Simulations are carried out to verify the feasibility.