中文摘要：

研究了自治水下机器人（AUV）主从式编队控制问题，提出了一种基于反步控制和人工势场的多AUV三维编队与避障方法，并实现了7AUV编队控制仿真和7AUV避障控制仿真。该方法利用领航者的位置信息，引入反步控制实现跟随AUV对虚拟AUV的轨迹跟踪，实现三维水下编队控制；结合人工势场的方法变换队形，有效地避开障碍物，顺利地通过障碍物区域。仿真研究表明，该方法编队时间短，差错率低，实现了预期的控制效果，验证了算法的有效性及实用性。

英文摘要：

The control of leader-follower formation of autonomous underwater vehicles （AUVs） was studied, and a method for three-dimensional formation and obstacle avoidance for multi-AUV based on backstepping control and artificial potential field was presented, and its simulations of the formation control and the obstacle avoidance for seven AUVs were conducted. The method uses the leader＇ s position information and introduces the backstepping control to realize the follower AUV＇ s tracking of the virtual AUV to achieve three dimensional underwater formation control, and combines with the artificial potential field method to transform the AUV formation to effectively avoid obstacles. The simulation results showed that the presented algorithm achieved the expected control effect, and verified the validity and the practicability of the algorithm.