A Hybrid Autonomous Recovery Scheme for AUV Based Dubins Path and Non-Singular Terminal Sliding Mode Control Method

In order to improve the persistent operation capacity of autonomous underwater vehicle (AUV), recovery system draws more and attention in recent years. A hybrid scheme combined with navigation, guidance control is proposed complete function recov-ery AUV paper. Based on scheme, firstly transformed into trajectory tracking problem, Dubins path planning method adopted build three-dimensional(3D) motion AUV. Secondly, virtual target strategy introduced guide track desired path. Finally, a non-singular terminal sliding mode controller designed Due existence model inaccuracy external disturbances from environment, finite-time disturbance observer estimate uncertainty system. Numerical simulation conducted verify its performance. The results show that 3D can be planed well.