Distributed Formation Fault Tolerance Control Based on Improved Artificial Potential Field Method

In order to solve the problem of formation fault-tolerant control in the case of large underwater communication delay and serious data packet loss. An improved distributed formation control method of artificial potential field method combined with coherence theory is proposed to solve the problem of insufficient stability of large-scale multi-AUV systems working together and to maximize the use of communication resources of the formation system. The method adapts the maneuverability of underwater robots by designing the potential field function as a buffer shape, and improves the robustness of the formation system by designing a fault-tolerant control algorithm based on graph theory. The theoretical validation and simulation analysis show that the distributed formation control method based on the improved artificial potential field can realize formation reconfiguration and formation obstacle avoidance when the AUV cluster size is large, while the formation control system has a certain degree of fault tolerance.