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<p>This paper proposes a novel velocity command acquisition method for the dynamic base recovery control of an underwater unmanned vehicle (UUV). First, to overcome the challenge of unavailable real-time desired velocity information during recovery control, an improved fast terminal sliding mode control (FTSMC) strategy is developed, generating virtual velocity commands solely based on the UUV’s kinematic model. Second, accounting for the constraints of low underwater communication bandwidth and limited position-only feedback, a globally convergent differentiator is designed to accurately estimate the six-degree-of-freedom (6-DoF) velocity of the moving mother ship using sparse acousto-optic guidance data, thereby supplying critical inputs for the lower-level controller. Finally, the derived velocity information is integrated into a feedback controller to achieve precise UUV trajectory tracking. The proposed method not only enhances the control accuracy and robustness of UUV dynamic base recovery but also offers a new paradigm for underwater robotic control system design. Extensive simulations and experimental validations confirm the method’s superior performance and practicality, establishing a robust foundation for autonomous UUV recovery.</p>

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A high-precision velocity command acquisition method based on the UUV dynamic base recovery control system

  • 期刊论文

  • 发表日期：

    2026年6月29日

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  • Peiyu Han,
  • Wei Zhang

摘要

This paper proposes a novel velocity command acquisition method for the dynamic base recovery control of an underwater unmanned vehicle (UUV). First, to overcome the challenge of unavailable real-time desired velocity information during recovery control, an improved fast terminal sliding mode control (FTSMC) strategy is developed, generating virtual velocity commands solely based on the UUV’s kinematic model. Second, accounting for the constraints of low underwater communication bandwidth and limited position-only feedback, a globally convergent differentiator is designed to accurately estimate the six-degree-of-freedom (6-DoF) velocity of the moving mother ship using sparse acousto-optic guidance data, thereby supplying critical inputs for the lower-level controller. Finally, the derived velocity information is integrated into a feedback controller to achieve precise UUV trajectory tracking. The proposed method not only enhances the control accuracy and robustness of UUV dynamic base recovery but also offers a new paradigm for underwater robotic control system design. Extensive simulations and experimental validations confirm the method’s superior performance and practicality, establishing a robust foundation for autonomous UUV recovery.