Multi-UUV formation coordination control based on virtual navigator

Aiming at the problem of multi-unmanned underwater vehicle (UUV) formation path tracking which is susceptible to perturbation and current interference, a method of multi-UUV formation coordination control based on virtual navigator is proposed. This method proposes to use vectors to solve the cooperative path guide points. Then the UUV path tracking error equation and the cooperative error equation of the multi-UUV are established in the formation coordinates. An improved nonlinear incremental feedback robust sliding mode control law is designed based on ensuring sliding mode control, this method eliminates the modal approach process and effectively increases the robustness of the system. The simulation results show that the proposed multi-UUV formation coordination control method based on the virtual leader effectively enhances the formation of coordination and stability.