Anti-disturbance control strategy in capture stage for AUV dynamic base docking with optical guided constraints.

This article investigates the challenge of potential optical guidance failure at the end of the underwater docking process due to relative attitude deviation between the Autonomous Underwater Vehicle (AUV) and the recovery platform, especially in the context of a moving base. A novel anti-disturbance control strategy is presented, accounting for environmental dynamics and optical guidance limitations. Firstly, we establish constraint models such as the effective field of view and the guidance beam associated with the optical guidance method. We then divide the recovery control strategy area based on the constraint model and propose the Line-of-sight Considering Visual Constraints (LOSCVC) docking control strategy. This strategy utilizes the line-of-sight method and the virtual leader method to make motion decisions based on the relative attitude offset and completes the docking operation by tracking the motion of the virtual leader. Furthermore, we consider the effect of ocean currents on the docking process of the moving base and design a disturbance compensation control law based on the Lyapunov redesign method. This strategy ensures the AUV maintains effective and continuous optical guidance during the capture phase, thereby achieving precise, safe, and rapid docking control. Simulation results validate the effectiveness and robustness of the proposed docking control strategy. • A new control methodology, LOSCVC, addresses AUV tracking complexities in underwater recovery, factoring in visual guidance restrictions and current disruptions. • A model is established for line-of-sight constraining in the optical guidance context, leading to the segmentation of the recovery control strategy area based on this theoretical foundation. • A virtual leader strategy, leveraging line-of-sight principles, optimizes trajectories through a dipole vector field for azimuth adjustments, ensuring uninterrupted optical guidance. • Back-stepping-derived control laws, complemented by Lyapunov-based compensation,facilitate precise AUV maneuvering and enhance disturbance resistance. [ABSTRACT FROM AUTHOR]