In this study, we address the formation control problem of multiple autonomous underwater vehicles (AUVs) in the presence of model uncertainties and ocean-current disturbances. Specifically, we propose a robust distributed leaderless formation control strategy by cross-coupling a synchronous control technique, a nonsingular terminal sliding-mode control approach, and an adaptive control method. We enhance the robustness against system uncertainties by redefining the cross-coupling errors and ensure that the finite-time tracking error converges to zero from any initial value via the designed adaptive nonsingular terminal sliding mode control, which also eliminates the chattering problem. A major advantage of our adaptive control law is neglecting the requirement of any prior knowledge about the upper bounds of the model uncertainties and ocean-current disturbances. Our comparative simulation results demonstrate the effectiveness of the proposed distributed leaderless formation control scheme.

在这项研究中，我们解决了存在模型不确定性和洋流扰动的多个自主水下航行器 (AUV) 的编队控制问题。具体来说，我们通过交叉耦合同步控制技术、非奇异终端滑模控制方法和自适应控制方法，提出了一种鲁棒的分布式无领导编队控制策略。我们通过重新定义交叉耦合误差来增强对系统不确定性的鲁棒性，并通过设计的自适应非奇异终端滑模控制确保有限时间跟踪误差从任何初始值收敛到零，这也消除了颤振问题。我们的自适应控制法的一个主要优点是忽略了关于模型不确定性和洋流扰动上限的任何先验知识的要求。我们的比较模拟结果证明了所提出的分布式无领导编队控制方案的有效性。