DOI: 10.3724/SP.J.1004.2013.02164

Acta Automatica Sinica (自动化学报) 2013/39:12 PP.2164-2169

Recovery Control for Autonomous Underwater Vehicle Based on Finite-time Synchronization of Systems

A control method for plane-motional host-vessel recovering an autonomous underwater vehicle is proposed based on the idea of states synchronization of master-slave systems. First, the dynamical models of both the host-vessel and the autonomous underwater vehicle are mathematically given, then a master-slave control scheme, in which the autonomous underwater vehicle (slave system) takes over the updated state information of the host-vessel (master system) and manipulates itself to approach to the host-vessel, is established such that the recovery of the autonomous underwater vehicle by the host-vessel can be equivalently studied in synchronization of both the motional states. By means of finite-time stability theory, a sliding mode controller for recovery of the autonomous underwater vehicle by the host-vessel in finite time is designed, where the disturbance of constant ocean current is considered. The validity of the designed controller is veri¯ed by means of theoretical proof and numerical simulation.

Key words:Autonomous underwater vehicle (AUV), technique of recovery, finite-time synchronization, sliding mode control

ReleaseDate:2014-07-21 17:04:32

Funds:National Natural Science Foundation of China (61074012, 11202239)