| Summary: | In this paper, the formation coordination control of discrete-time distributed leaderless multiple autonomous underwater vehicle (AUV) system with double independent position–velocity communication topology and control inputs on a nonconvex set is studied. Firstly, the problem of formation coordination control of multi-AUV system is transformed into the problem of formation consensus of multi-AUV system, and the consistent state of leaderless multi-AUV system formation was defined. Secondly, considering the existence of bounded communication delay and nonconvex control input constraints for multi-AUV system formation under weak communication conditions, a formation consistent constraint controller algorithm for discrete-time leaderless multi-AUV system with double independent communication topology is proposed by introducing constraint operators. By using the properties of graph theory, random matrix and SIA matrix, and selecting appropriate controller parameters, the multi-AUV system formation can reach the defined consensus state. Furthermore, the unbounded communication delay of multi-AUV system formation is studied. Finally, the simulation results show that the proposed controller constraint algorithm is effective.
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