Modeling, strategy and control of UUV for autonomous underwater docking recovery to moving platform

Autonomous underwater docking recovery of UUV to a moving platform dock is presented in this paper. Suited docking strategy and control method is designed to realize accurate, safe and fast docking of UUV based on an optical terminal guidance system with two cameras and two guiding lights. The kinematics and dynamics of UUV during docking process is modeled to describe the hydrodynamic interaction disturbs due to environment changing from a vast water area far from the platform to restricted water area near the platform. A two-step docking strategy and dynamic positioning to line docking method is proposed to realize UUV double reference point dynamic docking recovery. Grey predictive docking control system and five degrees of freedom grey prediction PID controllers are designed to realize UUV docking control with small overshoot and adjustment time. Finally, the validity of the proposed method is verified by the simulation results.