Design of an improved adaptive slide controller in UUV dynamic base recovery

Abstract

This paper addressed the problems in UUV dynamic base recovery, such as limited mission time, high control accuracy requirements and many uncertainties. The entire recycling process has been designed in sections to address these issues. A new sliding mode surface with predictive ideas based on the original fast terminal sliding mode control is designed for each phase, and a neural network (RBF) is introduced to compensate for the deviation between the actuator output and the controller command in practice. A new sliding-mode surface based on the compensated sliding-mode surface can be used to compensate for the failure of the original actuator due to faults and other factors, and a corresponding adaptive controller is derived. Simulation and experimental verification show that the designed controller not only has good convergence quality, but also can quickly adjust the position to the recovery mother ship after the original actuator failure, meeting the requirements of dynamic base recovery, and the feasibility in practice has been effectively proved.