The formation of unmanned underwater vehicles (UUVs) has wide potential for applications in various marine activities. This paper studies the robust formation protocol design problem for multiple UUVs, whose dynamics are subject to nonlinearity, parametric uncertainties, and external disturbances. A robust distributed formation control scheme is proposed, which yields a control structure involving a position loop and an attitude loop to govern the translational motion and rotational motion, respectively. Theoretical analysis is given to show the robustness properties of the global closed-loop control system. Simulation results are provided to validate the effectiveness of the proposed formation control method.

中文翻译：

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一组无人水下航行器的鲁棒分布式编队控制器设计

无人水下航行器（UUV）的形成在各种海洋活动中具有广泛的应用潜力。本文研究了多个 UUV 的鲁棒编队协议设计问题，其动力学受非线性、参数不确定性和外部干扰的影响。提出了一种鲁棒的分布式编队控制方案，该方案产生了一个包含位置环和姿态环的控制结构，分别用于控制平移运动和旋转运动。给出了理论分析以表明全局闭环控制系统的鲁棒性。仿真结果验证了所提出的编队控制方法的有效性。