Fault-Tolerant Formation Control for Multiple Stochastic AUV System under Markovian Switching Topologies

Formation control, which is a core problem in multi-autonomous underwater vehicle (AUV) systems, plays an important role in realizing safe and accurate cooperation of multi-AUV systems. This paper provides a study on fault-tolerant formation control for multiple stochastic AUV systems under Markovian switching topologies. Considering the effect of noise and Markovian switching communication topology, a novel leader-following group formation control protocol with an actuator fault for a multi-AUV system is developed under the influence of the two independent stochastic processes. The designed controller is proved by an infinitesimal generator with Lyapunov stability theory and can guarantee that the follower AUVs’ states will eventually converge to the leader’s state in each subgroup while forming the desired sub-formation. Finally, the effectiveness of the theoretical analysis is verified by a simulation experiment.