Recovery control for the parent-child autonomous underwater vehicles via a master-slave synchronization scheme

摘要

A method by which a child autonomous underwater vehicle (AUV) is autonomously recovered by a parent AUV is proposed based on a master-slave synchronization scheme. In the scheme, the child AUV (slave system) is driven by a designed continuous feedback controller, which utilizes the updated state information of the parent AUV, to synchronize to the motion of the parent AUV (master system). The theoretical proof and the visual simulation verify the effectiveness of the synchronization scheme.