Enhanced Self-Organizing Control for Multiple AUV Systems: A Robust Approach

This manuscript introduces a self-organized formation control scheme for multi-agent systems (MAS). This article takes into account multiple autonomous underwater vehicle systems (AUVs). The primary research challenge addressed in this work is the development of a robust and reliable control strategy for the self-organizing formation of multiple AUVs in the presence of disturbances and unknown parameters. To achieve effective guiding and collaboration, the flocking algorithm and L1 adaptive control are combined. The flocking algorithm is employed to generate self-organizing of several AUVs, and each AUV’s dynamic model is stabilized using the L1 controller. The performance of the recommended approach under the previously described criteria is verified and demonstrated using simulation results.