Multi-AUV Heterogeneous Bipartite Consensus Formation Obstacle Avoidance Algorithm Based on Event Triggering-RMPC Under Measurement-Communication Union Framework

This paper investigates a robust model predictive control-based event triggering (ET-RMPC) for heterogeneous autonomous underwater vehicle (AUV) bipartite consensus formation in obstacle avoidance. Firstly, a scheme of heterogeneous AUV bipartite formation control base on signed graph theory and implicit interactive measure-communication union framework is proposed. Next, a RMPC based on the proposed framework for heterogeneous AUV bipartite consensus formation is designed. Additionally, to alleviate the computational burden, a novel event-triggering mechanism is devised based on the error between the estimated state and actual state of the AUV formation trajectory. Then, the stability of the system and the upper and lower bounds of the trigger interval are analyzed based on innovation and Lyapunov theory. Finally, the effectiveness of the proposed method is validated through bipartite consensus formation tracking and obstacle avoidance scenarios.