Filter-backstepping based neural adaptive formation control of leader-following multiple AUVs in three dimensional space

This paper addresses a filter-backstepping based neural adaptive formation control of leader-following AUVs with model uncertainties and external disturbances in three dimensional space. For this purpose, a formation control strategy is proposed by employing filter backstepping technique to avoid the explosion of complexity in the standard backstepping design. This technique can not only significantly simplify the design process of the backstepping controller, but also reduce the influence of high-frequency measurement noise. Then, multi-layer neural networks are incorporated with an adaptive robust technique to deal with the uncertain dynamics, approximation errors and nonlinear disturbances induced by the waves and ocean currents. A Lyapunov-based stability analysis is provided to guarantee that the tracking errors for all the AUVs are uniformly ultimately bounded (UUB). Finally, simulation results for a group of AUVs are provided to demonstrate the tracking performance of the designed formation controller.