On the robust model predictive control method of dynamic positioning to line for UUV recovery

Unmanned underwater vehicle (UUV) has been applied for civil field all over the world. In technologies of UUV, the underwater recovery technology plays an essential part. And the superior precision control system is necessary for UUV underwater recovery. In this paper, the research background is the mother ship carries UUV recycling in piggyback method. And the important point is the method of dynamic positioning to line in process of UUV recovery and the UUV dynamic positioning to line strategy based on the robust model predictive control algorithm is proposed. Then, a digital simulation is made to verify the feasibility of the control algorithm. Through the simulation results, the conclusion of control algorithm is got.