中文摘要：

编队航行对于提高自主水下航行器的水下作业能力和生存能力具有重要意义,以组成三角形编队前行的三个自主水下航行器为研究对象,基于Leader-Follower编队控制思想和反馈线性化技术设计了d？φ编队控制率,同时,提出了一种变结构控制方法,该方法通过视线导引角计算保持横向轨迹误差最小,进而使自主水下航行器沿预设的航路前进。仿真结果表明所提出的方法切实可行,很好地解决了自主水下航行器协同控制中的编队轨迹跟踪问题。

英文摘要：

Navigation on a formation is of significant importance for improving Autonomous Underwater Vehicles’ （AUVs） underwater operational capability and survivability. Taking a triangle formation constituted by three AUVs as a case for study, a relative distance and angle control （ d ？ φ） law based on Leader-Follower formation strategy and feedback linearization technique was derived out. At the same time, a variable structure control law was proposed to keep the AUV track along the predefined trajectory by minimizing the cross track error, which is calculated from the line-of-sight angle. The simulation results show that the proposed method is feasible, and the formation tracking problem of cooperative control of multiple AUVs is well resolved.