Consensus formation tracking of multiple autonomous underwater vehicles (AUVs) subject to nonlinear and uncertain dynamics is a challenging problem in robotics. To tackle this challenge, a distributed bioinspired sliding mode controller is proposed in this paper. First, the conventional sliding mode controller (SMC) is presented, and the consensus problem is addressed on the basis of graph theory. Next, to tackle the high frequency chattering issue in SMC scheme and meanwhile improve the robustness to the noises, a bioinspired approach is introduced, in which a neural dynamic model is employed to replace the nonlinear sign or saturation function in the synthesis of conventional sliding mode controllers. Furthermore, the input-to-state stability of the resulting closed-loop system is proved in the presence of bounded lumped disturbance by the Lyapunov stability theory. Finally, simulation experiments are conducted to demonstrate the effectiveness of the proposed distributed formation control protocol.

翻译：受非线性和不确定动态影响的多自主水下飞行器(AUV)的共识形成跟踪是机器人中一个具有挑战性的问题。为了应对这一挑战,本文件建议采用分布式生物激励滑动模式控制器。首先,介绍了常规滑动模式控制器(SMC),并根据图表理论解决了共识问题。接下来,为了解决SMC计划中的高频聊天问题,同时提高噪音的稳健性,引入了一种生物激励方法,其中采用了神经动力模型,以取代常规滑动模式控制器合成中的非线性标志或饱和功能。此外,由此产生的闭路控制器系统的输入到状态稳定性在受Lyapunov稳定性理论约束的断层扰动中得到了证明。最后,还进行了模拟实验,以证明拟议的分布式控制协议的有效性。