中文摘要：

这份报纸处理同步路径列在后面多重同质的 underactuated 的问题自治在水下车辆(AUV ) 。奉献控制法律被分成二个信封：一个人正在驾驶个人在水下追踪预定义的路径的车辆，和其它正在保证要同步的多重车辆的追踪的路径，借助于在多车辆通讯拓扑学的限制下面的分散的速度改编。与这二任务明确的表达，几何路径列在后面在 Lyapunov 理论和 backstepping 技术上被造，当把舵手行为注入经典单个路径追随者控制时。路径参数的同步被从线性代数学，图理论和非线性的控制理论使用工具的混合物到达。有最小化的通讯变量的直接内部车辆的速度改编上的一个简单却有效的控制图案，使 multi-AUV 系统能被同步并且稳定进一不变歧管，并且所有速度作为一个副产品收敛到需要的任务。模拟结果说明法律建议了的同步路径追随者控制的表演。

英文摘要：

This paper addresses the problem of synchronized path following of multiple homogenous underaetuated autonomous underwater vehicles （AUVs）. The dedicated control laws are categorized into two envelopes： One is steering individual underwater vehicle to track along predefined path, and the other is ensuring tracked paths of multiple vehicles to be synchronized, by means of decentralized speed adaption under the constraints of multi-vehicle communication topology. With these two tasks formulation, geometric path following is built on Lyapunov theory and baekstepping techniques, while injecting helmsman behavior into classic individual path following control. Synchronization of path parameters are reached by using a mixture of tools from linear algebra, graph theory and nonlinear control theory. A simple but effective control design on direct inter-vehicle speed adaption with minimized communication variables, enables the multi-AUV systems to be synchronized and stabilized into an invariant manifold, and all speeds converge to desired assignments as a byproduct. Simulation results illustrate the performance of the synchronized path following control laws proposed.