Adaptive controller—Based on Nonlinear Disturbance Observer using for UUV automatic recovery system

UUV(Unmanned Underwater Vehicle) recovery system is a very complex multivariable system with strong coupling, strong nonlinear, time-varying and unknown interference. This dissertation is aimed to design an adaptive controller based on Nonlinear Disturbance Observer (DOB) under the unknown environment of near-wall during the coming-down of UUV recovery process. As a result, DOB can not only compensate the unknown inferences, but also eliminate the high frequency noise from sonar by the low pass filter in DOB. This paper solves the problem of UUV automatic recovery system by flat-carrying underwater.