基于有限时间系统同步的自治水下航行器回收控制

基于主-从系统状态同步的思想，提出了母艇在平面运动中回收自治水下航行器（Autonomous underwater vehicle，AUV）的一种控制方法. 在给出母艇和自治水下航行器的动力学模型基础上，建立了自治水下航行器（从系统）接收母艇（主系统）的状态信息并控制自身接近母艇的主从控制方案，使母艇自主回收水下航行器的问题转化为两者的运动状态同步问题. 利用有限时间稳定性理论，设计了一种在常值海流扰动影响下，自治水下航行器能够在有限时间内被母艇回收的滑模控制器，理论证明和仿真实例证实了该控制器的有效性.

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 verified by means of theoretical proof and numerical simulation.