Research on disturbance rejection motion control method of USV for UUV recovery

The recovery of unmanned underwater vehicle (UUV) by unmanned surface vehicle (USV) has the characteristics of autonomy, safety, and efficiency. Taking the recovery of UUV by USV as the engineering background, this paper studies the guidance and anti‐interference motion control of USV in the recover...

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Bibliographic Details
Published in:Journal of field robotics Vol. 40; no. 3; pp. 574 - 594
Main Authors: Liao, Yulei, Chen, Congcong, Du, Tingpeng, Sun, Jiaqi, Xin, Yunwei, Zhai, Zizheng, Wang, Bo, Li, Ye, Pang, Shuo
Format: Journal Article
Language:English
Published: Hoboken Wiley Subscription Services, Inc 01.05.2023
Subjects:
Adaptive control
Autonomous underwater vehicles
Control methods
Dolphins
Field tests
fuzzy guidance
heading control
Interference
layered guidance
model‐free adaptive control
Motion control
Perturbation
Recovery
Subsystems
Surface vehicles
Terminal guidance
Unmanned vehicles
USV
UUV recovery
ISSN:1556-4959, 1556-4967
Online Access:Get full text
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Summary:The recovery of unmanned underwater vehicle (UUV) by unmanned surface vehicle (USV) has the characteristics of autonomy, safety, and efficiency. Taking the recovery of UUV by USV as the engineering background, this paper studies the guidance and anti‐interference motion control of USV in the recovery process. Aiming at the problem of dynamic guidance when recovering UUV, the USV guidance strategy for UUV recovery is studied. Fuzzy guidance is introduced as the dynamic terminal guidance method, and a layered guidance strategy combining classical guidance and fuzzy guidance is proposed. On the basis of the theory of compact form dynamic linearization‐based model‐free adaptive control (CFDL‐MFAC), the motion control of USV in the process of recovering UUV under the influence of model perturbation, external interference, and other uncertainties is studied. Theoretical analysis and experimental results show that there is a contradiction in the matching of dynamic change speed between the USV heading control subsystem and CFDL‐MFAC. By introducing the difference item into the standard control criterion to weaken the integral effect in the heading control subsystem of USV, a difference‐type compact format model‐free adaptive control method (DCFDL‐MFAC) is proposed, and the stability of DCFDL‐MFAC method is proved theoretically. The effectiveness and practicability of the proposed method are verified by simulation tests and field tests of “Dolphin IB” small USV.
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ISSN:1556-4959
1556-4967
DOI:10.1002/rob.22148