On Swarm-Constrained Formation Tracking Control Method for Master–Slave AUVs with Dynamic Transformations

Aiming at the problem of complex cluster constraints in the process of master slave AUV (Autonomous Underwater Vehicle) formation transformation and tracking in the wave environment, it is proposed to introduce the model predictive control (MPC) method to normalize a variety of complex constraints in the process of group formation navigation, unify the kinematic model and dynamic model, and introduce the normalized constraint equation. At the same time, the MPC formation transformation tracking control strategy is designed to achieve AUV formation transformation and tracking control under the unified model, which is verified through simulation tests to provide more effective technical support for AUV group formation.