The multiple autonomous underwater vehicle (AUV) formation plays an important role in underwater missions, such as oceanographic sampling and water pollution monitoring. This article presents the mechatronic design, modeling, formation control, and experiments of multiple AUVs. The structure of the AUV and a simplified mathematical model for tracking control are described. To achieve formation control, we formulate a control framework for the multiple AUVs. The upper layer is a formation algorithm based on a novel leader-follower control law. The bottom layer is a dynamic controller based on active disturbance rejection control (ADRC). The formation algorithm is in charge of calculating reference values for the followers to maintain a desired pattern with the leader. The stability and convergence properties of the algorithm have been analyzed using the Lyapunov stability method. Meanwhile, an ADRC approach-based dynamic controller is established to track the reference values. Numerical simulations are carried out to analyze formation control and validate the control framework. The multiple AUVs can switch and maintain the formation between the one-line pattern and the

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pattern. Finally, extensive formation field experiments involving the one-line pattern and the

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pattern show the good motion ability of the self-designed AUVs and also verify the feasibility of the proposed control approach. Note to Practitioners—The motivation of the article is to design a practical formation control approach for multiple AUVs and verify the control approach in the field. Although there have been a lot of prior research studies on multiple AUVs, how to design a formation control approach subjected to communication bandwidth constraints and how to develop multiple AUVs and verify the effectiveness of the control method in the field are worthy of intense investigation. Hence, this article builds the mechatronic design and dynamic model of the AUV and proposes a novel leader-follower formation control approach based on the dynamics and kinematic model of AUV. Besides, the stability of formation control for multiple AUVs is proven by the Lyapunov theorem. Multiple AUVs can switch and maintain formation between

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pattern and one-line pattern with a smaller error. Finally, the performance of the proposed formation control strategy is experimentally verified using three self-made AUVs inside a large reservoir. The proposed method is suitable for multiple AUVs missions involving underwater surveillance, underwater pipeline inspection in the ocean.

#	Concept	H-Index	Publications	Citations
1	Engineering	3	3	136
2	Computer Engineering	1	1	46
3	Computer Science	1	1	18
4	Marine Engineering	1	1	72
5	Space Engineering	1	1	72

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