Discrete-time AUV formation control with leader-following consensus under time-varying delays

In order to enhance the development of marine resources, this study investigates the problem of discrete-time multi-autonomous underwater vehicles (AUV) formation coordination control with leader-following consensus under time-varying delays. First, a discrete-time second-order integration model for AUVs is presented. Second, considering the existence of time-varying delays in AUV communication, the communication between multiple AUVs is classified as valid or invalid based on the maximum delay limit. The problem of AUV formation control under invalid communication is transformed into a formation control problem under switching communication topologies. Then, a time-varying delay communication synchronization strategy is designed to convert asynchronous state information into synchronous state information. Based on synchronous state information, a leader-following consensus control protocol with time-varying delays is proposed, and a controllability analysis is conducted using Lyapunov-Krasovskii functionals. Finally, the stability and effectiveness of the proposed formation-coordination controller and delay synchronization strategy were validated through simulation experiments.