针对自主水下航行器（Autonomous Underwater Vehicle，AUV）与拖曳式回收坞站在末端对接过程中因碰撞所引发的控制难题，开展对接控制策略的优化研究。基于Adams与Matlab的联合仿真平台构建动态对接模型，设计自适应滑模控制器以实现碰撞后的AUV姿态稳定控制，同时提出一种二次对接智能决策框架。结果表明，所设计控制器可有效抑制对接碰撞力，使其峰值降低约34%，对接时间缩短约24%，改善了对接性能；在首次对接失败时，基于动态故障评估的决策框架估仍能实现可靠二次对接，系统整体鲁棒性显著增强。这一研究提高了动态对接回收的抗干扰性，对AUV自主对接回收的研发具有重要意义。
To address the control challenges arising from collision between autonomous underwater vehicles (AUVs) and towed recovery dock during terminal docking, this study conducts optimization research on docking control strategies. A dynamic docking model is established using a co-simulation platform integrating Adams and Matlab. An adaptive sliding mode controller is designed for AUV attitude stabilization. At the same time, an intelligent decision-making framework for secondary docking is proposed. Results demonstrate that the designed controller effectively suppresses docking collision forces, reducing the peak value by approximately 34% and shortening docking time by about 24%, thereby improving overall docking performance. Even in scenarios where initial docking attempt fails , the proposed decision-making framework based on dynamic fault assessment still enables reliable secondary docking, significantly enhancing the overall system robustness. This study enhances the anti-interference capability of dynamic docking and recovery operations, thereby offering significant value for the research and development of autonomous docking and recovery systems for AUVs.
2026,48(6): 118-124 收稿日期：2025-12-8
DOI：10.3404/j.issn.1672-7649.2026.06.016
分类号：U674.941
基金项目：高等学校博士学科点专项科研基金资助项目（35031102 ）
作者简介：陈如意(1998-),女,硕士研究生,研究方向为先进控制理论与应用
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