Design and Implementation of a High-Speed Shuttle UUV Control System

Deep-sea space stations overcome surface weather and wave constraints, enabling sustained deep-sea operations. This paper focuses on emergency communication between such stations and ground control, using shuttle high-speed UUVs for high-speed vertical navigation and rapid information transmission. It centers on longitudinal velocity and pitch attitude control in the vertical plane. For the control system, an integrated design is proposed, covering UUV control system hardware and software development. A special kinematic model of the UUV is derived via coordinate system rotation mapping; combined with Newton's second law and Euler's rigid body dynamics, a six-degree-of-freedom dynamic model is established. Based on backstepping sliding mode control, a hyperbolic tangent function is used to mitigate chattering, designing a velocity controller with exponential convergence laws. Simulations confirm its superior high-speed tracking performance over conventional PID controllers. To counter ocean current interference and model parameter fluctuations, a Linear Expanded State Observer (LESO) is integrated into vertical pitch control, which enhances the controller's anti-disturbance ability and stability as verified by comparative simulations.