Distributed Adaptive Fuzzy 3-D Formation Tracking Control of Underactuated Autonomous Underwater Vehicles

This article addresses distributed adaptive fuzzy 3-D formation tracking control of multiple autonomous underwater vehicles (AUVs) subject to marine environmental disturbances. First, by constructing a coordinate transformation, AUV model is transformed into a simple second-order systems with nonlinear dynamics. Second, fuzzy logic systems are utilized to approximate the complex nonlinear dynamics and a distributed adaptive control scheme is carried out under the assumption that all AUVs have access to the real-time information of themselves and their neighbors. Third, we assume that only sampling states of their neighbors under the event-triggered conditions are available. System states are reconstructed via the fuzzy state observers, and then the other distributed adaptive control scheme is proposed to ensure that all AUVs track the leader with the desired formation configuration under local communication. The coordinate transformation and fuzzy logic approximation method not only reduce computation but also simplify control design. Finally, a numerical simulation is carried out to demonstrate the effectiveness of the proposed control design.