Path following consistency control based on event-triggered sliding mode control strategy for AUV formation

Aiming at the consistency control problem for autonomous underwater vehicle (AUV) formation, an Event-triggered Path Following Consistency controller based on an Event-triggered strategy is proposed in this paper. The outer loop of the controller adopts the sliding mode control strategy added Event-triggers. The consistency control problem of the AUV formation is achieved by introducing sliding mode surfaces and variables. The system stability of this controller is proved by the Lyapunov stability theorem, and it is demonstrated that the Event-trigger strategy proposed in this paper does not have the Zeno phenomenon. The simulation results show that the proposed controller has good robustness and stability, which can effectively reduce the communication frequency between AUVs, and meet the demand for consistent control of the AUV formation path following.