Consensus Formation Tracking for Multiple AUV Systems Using Distributed Bioinspired Sliding Mode Control

TL;DR

This paper introduces a novel distributed bioinspired sliding mode control method for consensus formation tracking of multiple AUVs, addressing nonlinear dynamics, uncertainties, and chattering issues with improved robustness.

Contribution

It proposes a bioinspired approach using neural dynamic models to enhance sliding mode control for multi-AUV systems, reducing chattering and increasing robustness.

Findings

Effective formation control demonstrated in simulations

Reduced chattering with bioinspired neural models

Proved input-to-state stability under disturbances

Abstract

Consensus formation tracking of multiple autonomous underwater vehicles (AUVs) subject to nonlinear and uncertain dynamics is a challenging problem in robotics. To tackle this challenge, a distributed bioinspired sliding mode controller is proposed in this paper. First, the conventional sliding mode controller (SMC) is presented, and the consensus problem is addressed on the basis of graph theory. Next, to tackle the high frequency chattering issue in SMC scheme and meanwhile improve the robustness to the noises, a bioinspired approach is introduced, in which a neural dynamic model is employed to replace the nonlinear sign or saturation function in the synthesis of conventional sliding mode controllers. Furthermore, the input-to-state stability of the resulting closed-loop system is proved in the presence of bounded lumped disturbance by the Lyapunov stability theory. Finally, simulation experiments are conducted to demonstrate the effectiveness of the proposed distributed formation control protocol.