Distributed event-triggered coordinated control for multi-UUV recovery system with time delay

To reduce the communication burden and enhance the data processing capability of the multiple unmanned underwater vehicle (multi-UUV) recovery system, a distributed event-triggered multi-UUV coordinated control method under time-delay conditions is proposed. The multi-UUV recovery problem can be transferred into a leader-following consensus problem. For each UUV to be recovered, the controller updates depend on its own trigger function. Also, sufficient conditions and boundary conditions on leader-following consensus are presented, respectively. The simulation results show that the proposed controller is effective, robust, and energyefficient for the multi-UUV recovery system.