| Citation: | DU X，SUN Z D，XU C L，et al. Pinning control of AUV cluster under input delay and communication delay[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（5）：1474-1480 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0538
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Addressing the impact of latency issues on cluster stability. The traction control strategy is studied. Through the use of feedback linearization, the autonomous underwater vehicle (AUV) model is reduced to a second-order integrator model. The formation control problem of multiple AUV clusters with time delay is examined, and the traction control and consistency control are combined. The influence of input delay and communication delay on the AUV cluster system is analyzed. The Nyquist criterion control theory is used to prove it. We provide the sufficient and necessary conditions for the system’s asymptotic convergence, which is made up of the cluster’s pinned and unpinned AUV. Finally, the correctness of the theorem is further verified by numerical simulation.
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