DSRV recovery control using grey prediction model

Deep Submarine Rescue Vehicle (DSRV) recovery in deep water can reduce the influence coming from wave, wind and current, the same as the advantage of hidden-form, where the recovery control is one of the most important subjects. The control scheme of recovery motion control of DSRV, including the dynamic positioning of the bow and the stern, must ensure that the line connecting the bow and the stern is in the accepted error range. The grey theory can be employed to improve the control performance of a system without sufficient information or with highly nonlinear property. In this paper, the characteristic of recovery motion control is analyzed, the structure of control system is proposed, and the motion model of DSRV is established, based on the special shape of DSRV and the motion property of recovery. In addition, the two-point positioning control strategy is proposed. The grey prediction model combined with a PID controller is proposed to eliminate the position error between DSRV and the MOSUB. Simulation result shows that grey model controller has better control quality than traditional PID, which application can meet the prediction precision with only a few data, thus the control precision is improved.