Consensus control for multiple AUVs under imperfect information caused by communication faults

Consensus control for multiple autonomous underwater vehicles(AUVs) with imperfect information due to communication faults is established in this paper. Two novel fault tolerant consensus control techniques are addressed with respect to leaderless multiple AUV systems and leader-follower multiple AUV systems. The proposed control architectures are constructed so that each AUV exchanges information with its neighboring AUVs, i.e. distributed consensus control strategies are emphasized to tolerate information transmission faults for multiple AUV systems. The simulation study is carried out to show the effectiveness of the proposed theoretical analysis.