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ZHANG J , LI W , KANG S , et al . Assigning multiple AUVs to form arrays under communication range limitations based on the element zero method [J ] . IEEE Systems Journal , 2021 , 15 ( 2 ): 1664 - 1673 . DOI: 10.1109/JSYST.2020.3011833 http://doi.org/10.1109/JSYST.2020.3011833 https://ieeexplore.ieee.org/document/9163229/ https://ieeexplore.ieee.org/document/9163229/

刘丽萍 , 王红燕 . 基于海流观测的欠驱动AUV自适应反演滑模轨迹跟踪 [J ] . 天津大学学报(自然科学与工程技术版) , 2020 , 53 ( 7 ): 745 - 753 .

LIU L P , WANG H Y . Underactuated AUV adaptive inversion sliding mode trajectory tracking based on ocean current observations [J ] . Journal of Tianjin University(Natural Science and Engineering Technology Edition) , 2020 , 53 ( 7 ): 745 - 753 . (in Chinese)

王金强 , 王聪 , 魏英杰 , 等 . 未知海流干扰下自主水下航行器位置跟踪控制策略研究 [J ] . 兵工学报 , 2019 , 40 ( 3 ): 583 - 591 . DOI: 10.3969/j.issn.1000-1093.2019.03.018 http://doi.org/10.3969/j.issn.1000-1093.2019.03.018 针对存在参数不确定性的欠驱动自主水下航行器 (AUV)水平面位置跟踪控制问题，基于李雅普诺夫理论，利用反步法设计了一种非线性控制器。利用自适应控制技术对模型本身不确定性进行补偿，同时引入自适应模糊控制技术对非线性控制器进行优化；设计了一种针对于缓慢未知时变海流的指数收敛观测器，并利用李雅普诺夫稳定性理论证明了整个AUV闭环控制系统的稳定性。针对一种新型飞翼式欠驱动AUV进行数值仿真，结果表明所设计控制器可以准确地对期望轨迹进行跟踪，证明了其有效性和鲁棒性。

WANG J Q , WANG C , WEI Y J , et al . Research on position tracking control strategy of autonomous underwater vehicles under unknown current interference [J ] . Acta Armamentarii , 2019 , 40 ( 3 ): 583 - 591 . (in Chinese)

WEI H L , SHEN C , SHI Y . Distributed lyapunov-based model predictive formation tracking control for autonomous underwater vehicles subject to disturbances [J ] . IEEE Transactions on Systems, Man, and Cybernetics:Systems , 2019 , 51 ( 8 ): 1 - 11 .

盛亮 , 邱志明 , 于邵祯 , 等 . 自主水下航行器多终点航路规划的距离正则化混合水平集算法研究 [J ] . 兵工学报 , 2020 , 41 ( 4 ): 750 - 762 . DOI: 10.3969/j.issn.1000-1093.2020.04.014 http://doi.org/10.3969/j.issn.1000-1093.2020.04.014 为进一步提升水平集算法求解自主水下航行器(AUV)时间最优航路的计算效率，结合局部化思想和多项式距离正则化方程，提出一种用于AUV多终点航路规划的混合水平集算法。通过引入简单多项式距离正则化项，融合海流模型，推导新的水平集演化方程，并给出数值实现方法。所提算法无需重复初始化窄带且一次演化就能获得至多终点的所有最优航路集，解决了AUV多终点航路规划时计算效率不高、规划时间过长的问题。仿真结果表明，相较于蚁群算法和量子粒子群算法，在AUV的多终点航路规划中，混合水平集算法计算效率是蚁群算法的6.4倍，是量子粒子群算法的1.6倍，且鲁棒性更佳。

SHENG L , QIU Z M , YU S Z , et al . Research on distance regularization hybrid level set algorithm for multi terminal route planning of autonomous underwater vehicles [J ] . Acta Armamentarii , 2020 , 41 ( 4 ): 750 - 762 . (in Chinese) DOI: 10.3969/j.issn.1000-1093.2020.04.014 http://doi.org/10.3969/j.issn.1000-1093.2020.04.014 To further enhance the computational efficiency of level set method for solving AUV time-optimal route, a hybrid level set method for AUV multi-destination route planning is proposed by combining the localization and the polynomial distance regularized equation. The new level set evolution equation is derived and the numerical implementation method is given by introducing a simple polynomial distance regularized term and fusing the ocean current model. The proposed method can be used to obtain all the optimal routes to all destinations in one evolution without re-initialization of narrowband, and solve the problems of low computational efficiency and long-time multi-destination route planning of AUV. The simulated results show that the computational efficiency of the proposed method is 6.4 times of that of the ant colony algorithm, and 1.6 times of that of the quantum particle swarm algorithm in multi-destinations route planning of AUV, and it also has better robustness. Key

SU B , WANG H B , WANG Y . Dynamic event-triggered formation control for AUVs with fixed-time integral sliding mode disturbance observer [J ] . Ocean Engineering , 2021 , 240 ( 15 ): 109891 - 109904 . DOI: 10.1016/j.oceaneng.2021.109891 http://doi.org/10.1016/j.oceaneng.2021.109891 https://linkinghub.elsevier.com/retrieve/pii/S0029801821012397 https://linkinghub.elsevier.com/retrieve/pii/S0029801821012397

李娟 , 王佳奇 , 丁福光 . 基于反馈线性化的AUV三维轨迹跟踪滑模控制 [J ] . 哈尔滨工程大学学报 , 2022 , 43 ( 3 ): 348 - 355 .

LI J , WANG J Q , DING F G . AUV 3D trajectory tracking sliding mode control based on feedback linearization [J ] . Journal of Harbin Engineering University , 2022 , 43 ( 3 ): 348 - 355 . (in Chinese)

WANG H B , SU B . Event-triggered formation control of AUVs with fixed-time RBF disturbance observer [J ] . Applied Ocean Research , 2021 , 112 ( 2 ): 102638 - 102649 . DOI: 10.1016/j.apor.2021.102638 http://doi.org/10.1016/j.apor.2021.102638 https://linkinghub.elsevier.com/retrieve/pii/S0141118721001152 https://linkinghub.elsevier.com/retrieve/pii/S0141118721001152

LI X J , QIN H D , LI L Y . Fixed-time formation control for AUVs with unknown actuator faults based on lumped disturbance observer [J ] . Ocean Engineering , 2023 , 7 ( 8 ): 269 - 283 .

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LI L , LI Y P , ZHANG Y X , et al . Formation control of multiple autonomous underwater vehicles undercommunication delay, packet discreteness and dropout [J ] . Journal of Marine Science and Engineering , 2022 , 10 ( 7 ): 920 . DOI: 10.3390/jmse10070920 http://doi.org/10.3390/jmse10070920 https://www.mdpi.com/2077-1312/10/7/920 https://www.mdpi.com/2077-1312/10/7/920 Effective communication between multiple autonomous underwater vehicles (AUVs) is necessary for formation control. As the most reliable underwater communication method, acoustic communication still has many constraints compared with radio communication, which affects the effectiveness of formation control. Therefore, this paper proposes a formation control scheme for multiple AUVs under communication delay, packet discreteness and dropout. Firstly, the communication delay is estimated based on the kernel density estimation method. To solve the problem of packet discreteness and dropout, the curve fitting method is used to predict the states of the AUV. Secondly, a follower controller is designed based on the leader–follower approach using input–output feedback linearization, which is proven to be stable with Lyapunov stability theory. Then, some simulation results are presented to demonstrate the stability and accuracy of the formation control in different communication environments. Finally, the field tests on the lake show that the scheme introduced in this paper is valid and practical.

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XU B , WANG C Y , WANG X Y , et al . AUV formation control based on distributed model prediction under communication random time delay conditions [J ] . Control and Decision , 2023 , 38 ( 5 ): 1363 - 1372 . (in Chinese)

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崔荣鑫 , 徐德民 , 严卫生 . 仅利用位置信息的自主水下航行器主从式编队控制方法 [J ] . 兵工学报 , 2008 , 29 ( 8 ): 980 - 984 . 研究了自主水下航行器的主从式编队控制问题，提出了跟随者仅利用领航者的位置及航向信息，而不利用领航者的速度、角速度和动力学模型信息的编队控制方法。根据领航者的运动状态及期望的编队队形推导出跟随者的参考路径，并仅利用领航者的位置及航向信息设计一虚拟航行器，使其轨迹与参考路径在有限时间内重合。考虑了水下航行器的参数不确定性以及海流干扰等特点，给出了跟随者的自适应变结构控制律，使得跟随者沿着虚拟航行器的轨迹运动，从而与领航者保持期望的距离，达到编队控制的目的。仿真结果表明所提出的算法是有效的。

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