Distributed event-triggered formation control for multi-AUV system via asynchronous periodic sampling control approach

Aiming at the problems of high communication pressure and information redundancy of the multi-AUV system in the marine environment, this paper adopts a distributed event-triggered formation control method via asynchronous periodic sampling control approach, which realizes the discrete leaderless multi-AUV distributed event-triggered formation control. Compared with the common synchronous periodic sampling mechanism, the asynchronous periodic sampling method is more suitable for the discreteness and practicability of the multi-AUV operation process. As a relatively novel multi-agent control method, the key to the event-triggered mechanism is how to accurately determine the time when communications occur and when to update the controller. Besides, this article fully considers the position/velocity states under the two-layer independent communication topology suitable for AUV, the theory of row random matrix is used to analyze the convergence of system, and the sufficient conditions for stability are obtained. Finally, simulation experiments prove that the formation under the event-triggered mechanism will converge stably without Zeno behavior.