Establishing and Maintaining a Reliable Optical Wireless Communication in Underwater Environment

This paper proposes the trajectory tracking problem between an autonomous underwater vehicle (AUV) and a mobile surface ship, both equipped with optical communication transceivers. The challenging issue is to maintain stable connectivity two vehicles within range. We define directed line-of-sight (LoS) link systems. transmitter mounted on AUV, while ship receiver. However, this channel needs preserve transmitter-receiver position reinforce service quality, which typically includes bit rate error rates. A cone-shaped beam region of receiver approximated based model; then, minimum ensured if AUV remains inside region. Additionally, we design control algorithms for drive angle maximum achievable data it in under uncertain oceanic environment. Lyapunov function-based analysis that ensures asymptotic stability resulting closed-loop used proposed Non-linear Proportional Derivative (NLPD) controller. Numerical simulations are performed using MATLAB/Simulink show controllers’ ability achieve favorable presence solar background noise competitive times. Finally, results demonstrate NLPD controller improves performance more than 70% nominal conditions 35% model uncertainties disturbances compared original (PD) strategy.