中文摘要：

研究了通讯时延情况下的欠驱动自主水下航行器（Autonomous Underwater Vehicle）编队控制问题。考虑到水下通讯所面临困难，将编队问题分为两个部分：一部分为单个AUV的路径跟踪控制问题，保证每个AUV沿各自的期望路径航行；另一部分为路径参数的协同控制问题，保证每个AUV期望的路径参数能够实现同步，进而达到编队控制的目的。提出的控制方案仅需要AUV之间交互路径参数信息，通讯需求量小，满足实际工程需求且能够允许一定的通讯时间延迟。数值仿真结果验证了控制算法的有效性。

英文摘要：

We address the problem of designing distributed feedback laws to fore the outputs of underactuated Autonomous Underwater Vehicles to following geometric paths while holding a desired formation pattern. Considering the difficulties that are specially challenging in the field of underwater communications, the solution to formation problem, unfolds in two basic parts. Firstly, a path following control law is used to drive each AUV to its desired path regardless of the temporal speed profile adopted. Secondly the path parameters of each assigned path are adjusted so as to synchronize their positions along the path, thus achieving coordination, while making the formation as a whole travel at a given speed. The control strategy proposed only need AUVs communicate the information of path parameter with each other; the information flow is small and satisfy with a practical standpoint, moreover, the control law permits with a certain extent time delays. Simulation results show that the proposed control strategy is valid.