Trajectory Tracking Method of Formation Based on RMPC Under Dual Master Alternating Pilotage Strategy

Aiming at the problem of poor observability and time-varying disturbance of formation state in the process of multi-AUV formation trajectory tracking, this paper carried out research based on dual-principal alternate pilotage strategy and trajectory tracking problem. Firstly, in order to improve the observability of the formation, a formation control strategy with dual main alternating navigation is proposed. The proposed method adopt local information exchange between the leader alternates and the follower, which solves the difficulty of observing the position information of the formation during underwater motion. Secondly, combined with virtual control rate for backstepping design and various constraints, a collaborative formation cost function is designed, and a rolling time domain optimization control problem is introduced to complete formation trajectory tracking control based on robust model predictive control (RMPC). Finally, the effectiveness of the proposed algorithm is verified through simulation of five AUVs.