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    Summary
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    This study presents a new control strategy for fleets of underactuated underwater vehicles (UUVs) to achieve robust formation tracking in 3D space, overcoming complex constraints and disturbances.

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    Area of Science:

    • Robotics
    • Control Systems
    • Marine Engineering

    Background:

    • Formation tracking control for underactuated underwater vehicles (UUVs) in 3D space presents significant challenges.
    • Existing methods often struggle with nonholonomic constraints and underactuation.

    Purpose of the Study:

    • To develop a novel consensus-based optimal coordination protocol and a robust controller for UUV fleet formation tracking.
    • To address nonholonomic constraints and underactuation issues in UUV control.

    Main Methods:

    • A hierarchical control architecture is employed.
    • The top layer uses spherical coordinate transformation for constraint handling and distributed optimal motion coordination.
    • The lower-level employs a neurodynamics-based robust backstepping controller, avoiding the 'explosion of terms' issue.

    Main Results:

    • Achieved optimal formation tracking for the UUV fleet while satisfying constraints.
    • Successfully dealt with underactuation and unknown disturbances.
    • Demonstrated improved control activities and avoided conventional backstepping issues.

    Conclusions:

    • The proposed hierarchical control strategy ensures robust constrained formation tracking for UUV fleets.
    • The system stability is proven, with all UUV states uniformly ultimately bounded under disturbances.
    • Simulation results validate the superiority and effectiveness of the developed protocol.