Robust constrained formation tracking control of underactuated underwater vehicles (UUVs) fleet in three-dimensional space is a challenging but practical problem. To address this problem, this paper develops a novel consensus based optimal coordination protocol and a robust controller, which adopts a hierarchical architecture. On the top layer, the spherical coordinate transform is introduced to tackle the nonholonomic constraint, and then a distributed optimal motion coordination strategy is developed. As a result, the optimal formation tracking of UUVs fleet can be achieved, and the constraints are fulfilled. To realize the generated optimal commands better and, meanwhile, deal with the underactuation, at the lower-level control loop a neurodynamics based robust backstepping controller is designed, and in particular, the issue of "explosion of terms" appearing in conventional backstepping based controllers is avoided and control activities are improved. The stability of the overall UUVs formation system is established to ensure that all the states of the UUVs are uniformly ultimately bounded in the presence of unknown disturbances. Finally, extensive simulation comparisons are made to illustrate the superiority and effectiveness of the derived optimal formation tracking protocol.

该论文采用一种基于共识的优化协调协议和鲁棒控制器，通过引入球面坐标变换和分布式优化运动协调策略解决了非完整约束问题，并设计了基于神经动力学的鲁棒反馈控制器来处理欠驱动问题，确保在存在未知干扰情况下，UUVs编队系统的稳定性和所有状态的一致有界性。通过广泛的仿真比较，验证了所得到的最优编队跟踪协议的优越性和有效性。

基于分布式神经动力学的反步最优控制：鲁棒约束一致性下的非完全驱动水下车队