Research on Intermittent Pinning-containment Control of the Underactuated AUV Swarm

This paper presents a novel control framework to coordinate the underactuated autonomous underwater vehicle swarm system by integrating containment control and pinning control strategies. The approach suggested guarantees that followers stay inside the convex hull region established by containment leaders and allows pinning leaders to pin only a small portion of containment leaders to form a desired formation. Firstly, a two-layer control structure is utilized to achieve pinning-containment control of the autonomous underwater vehicle swarm. The control layer follows the intended formation trajectory, which is generated by the coordination layer. Subsequently, a non-periodic intermittent control method is explored to mitigate the energy consumption of autonomous underwater vehicle swarm. Finally, the effectiveness of the pinning-containment formation control of autonomous underwater vehicle swarm is verified through simulation.