Tracking Control Scheme for Multiple Autonomous Underwater Vehicles Subject to Union of Boundaries

Abstract This paper presents a new region boundary-based tracking control for Multiple Autonomous Underwater Vehicles (MAUVs). The proposed controller enables MAUVs to track a moving target formed by the union of two or more boundaries. In this case, multiplicative potential energy function is used to unite the whole boundaries. Moreover, each underwater vehicle navigates into a specific position on the boundary lines or surfaces while the target itself is moving. A non-negative Lyapunov-like function is presented for stability analysis of the MAUVs. Simulation results on 6 degrees-of-freedom AUVs are presented to illustrate the performance of new tracking control scheme.