Multi-AUV synchronous controller structure and design method

The invention discloses a multi-AUV synchronous controller structure. The multi-AUV synchronous controller structure is composed of a kinematic controller, a first-order filter, a dynamic controller, a predictor, an approximator and a comparator. A distributed type control structure is adopted, the defect that a controller of an integrated type control structure needs to master all information is overcome, the controller can achieve control over individuals only by mastering the local information, only part of AUVs receive reference target information, it can be ensured that the capacity of information exchange between the multiple AUVs is the minimum, the communication traffic of the information is reduced remarkably, flexibility and operability of the system are improved, and the structure has high fault tolerance and expansibility. The calculation complexity of the multi-AUV synchronous controller structure is remarkably reduced, and the calculation loads of a control algorithm are reduced, so that the controller facilitates real-time calculation of actual microprocessor systems such as single-chip microcomputers and digital signal processors. The multi-AUV synchronous controller structure remarkably improves the speediness and accuracy of the transient approaching effect of a neural network, and therefore the overall control performance of the system is improved.