Planar Tracking Control for Multiple Underactuated AUVs under Formation Constraint

T coordinate formation control for multiple underactuated AUVs. An optimal performance index is proposed to give attention to both tracking quality and formation constraint. A reference feasible trajectory for the position and orientation based on velocity control is planned so that it is consistent with vehicle dynamics. And the performance index is transformed to the error one. The optimal controller is designed to solve the problem. Using the controller we demonstrate the physical realization of control system at the same time. Simulation results validate that the proposed formation methodology are presented and discussed.