Adaptive Bearing-Based Target Entrapping Control of Autonomous Underwater Vehicles Using Fully Actuated System Approach

In this paper, we study the bearing-based target entrapping control problem of the leader-follower autonomous underwater vehicle (AUV) system with unknown model parameters. We consider a leader-follower structure, where the leader vehicles move with the desired trajectories, and the follower vehicles are steered by an estimation-based control method, integrating a bearing-based distance estimator, a desired state observer, and an adaptive stress matrix-based formation controller designed by applying the fully actuated system (FAS) approach. Under the conditions of the leaders' desired trajectories and the followers' control method, the bearing measurement of each pair of neighboring agents is proven to be persistently exciting. Thus, both the estimation errors and tracking errors converge to zero asymptotically. A numerical example illustrates the effectiveness of the proposed method.