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Fully Distributed Finite-time Consensus Control of Autonomous Underwater Vehicles

In this study, a finite-time position consensus control problem is investigated for multiple autonomous underwater vehicle (AUV) systems within a directed communication network. Via the homogeneous control method, an adaptive finite-time consensus control protocol is proposed using the relative states of neighboring AUVs. The proposed adaptive control protocol is fully distributed as it does not use any global information of the communication network. Numerical simulations are carried out to validate the effectiveness of the proposed control protocol.