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A Novel Analytical Recovery Controller for Autonomous Underwater Vehicles

In the process of using AUV, launch and recovery is one of the most important steps, and the successful launch and recovery is the precondition for AUV to complete the mission successfully. In this paper, the under-actuated AUV fork-carrying pole recovery method is taken as the research background. In terms of the near-wall environment at the recovery stage, the ocean current will disturb under- actuated AUV when it moves in the horizontal plane. In this paper, the under-actuated AUV fork-carrying pole recovery method is taken as the research background. The motion model predictive control method is designed to enable the AUV to achieve path tracking in the process of AUV underwater recovery control and achieve recovery successfully with the underwater workstation. Aiming at the disturbance of ocean current, the AUV model based on the disturbance of current is established. In order to simplify the design of the controller, the horizontal motion model is converted into an error model by introducing Serret-Frenet frame. The SIMO system is transformed into a single input and single output system by redefining the output. The stability of the two subsystems is proved respectively. The stability of the closed-loop system is obtained according to the equivalence principle. Simulation experiments are designed to prove the effectiveness of the controller.