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Multi-agent Distributed Formation Control Based on Improved Artificial Potential Field and Neural Network for Connectivity Preservation

In this brief, the collision avoidance and connectivity-preserving problems of autonomous underwater vehicles (AUVs) are investigated. For the sake of achieving these two goals more effectively, a novel distributed formation control scheme combined with artificial potential function is designed. Considering the disturbances of control input nonlinearities and the model uncertainties, we design a sliding mode controller based on RBF neural network. Then by Lyapunov method, we verify the stability of control strategy. At last, we establish a multi-AUVs model and simulate the control scheme with MATLAB. The effectiveness of the control strategy is testified by the simulations.