Self-adaptive inclusion control method and system for autonomous underwater vehicle based on GPIO (General Purpose Input/Output)

The invention provides a self-adaptive inclusion control method and system for an autonomous underwater vehicle based on GPIO, and relates to the field of autonomous underwater vehicle inclusion control, and the method comprises the steps: building a kinetic model of a follower autonomous underwater vehicle under external disturbance; on the basis of a generalized proportional-integral observer, unmeasurable state information and disturbance state information in the follower autonomous underwater vehicle dynamic model are observed; according to the observation information and topological information of the autonomous underwater vehicle, determining a contained synchronization error, and according to the contained synchronization error, establishing an optimal contained controller of the follower autonomous underwater vehicle; and taking the optimal actual controller in the optimal inclusion controller as control input of the kinetic model of the follower autonomous underwater vehicle to obtain the position an