Cross-Track Formation Control of Underactuated Autonomous Underwater Vehicles

The problem of 3D cross-track control for underactuated 5-degrees-of-freedom (5-DOF) autonomous underwater vehicles (AUV) is considered. The proposed decentralized controllers make the AUVs asymptotically constitute a desired formation that follows a given straight-line path with a given forward speed profile. The proposed controllers consist of two blocks. The first block, which is based on a Line of Sight guidance law, makes every AUV asymptotically follow straight line paths corresponding to the desired formation motion. The second block manipulates the forward speed of every AUV in such a way that they asymptotically converge to the desired formation and move with a desired forward speed profile. The results are illustrated with simulations.