Unified Stochastic Differential Equation Modeling and Fuzzy-RL Control for Turbulent UWOC

Underwater wireless optical communication (UWOC) for autonomous underwater vehicles is severely compromised by the coupling of oceanic optical turbulence and platform motion. Traditional static statistical models fail to capture the temporal evolution of these stochastic processes, hindering effective real-time beam tracking. This paper proposes a unified dynamic framework and a hybrid intelligent control strategy to address beam misalignment in turbulent environments. First, a physically motivated stochastic differential equation (SDE) model is derived from the Radiative Transfer Equation via diffusion approximation. Validated by an inverse Fokker–Planck approach, this model accurately reconstructs drift fields for diverse channel conditions, serving as a dynamic generator for time-varying fading. Second, to maintain robust link alignment, a hybrid Fuzzy-Reinforcement Learning control strategy is developed. This approach integrates the interpretability of fuzzy logic with the adaptive optimization of Q-learning, incorporating a supervisor mechanism to handle deep fading events. Numerical simulations and hardware-in-the-loop (HIL) experiments demonstrate the system’s efficacy. The proposed controller achieves a median alignment error of 3.64 mm and reduces transient errors by over 80% compared to classical PID controllers during signal recovery. These results confirm that the proposed framework significantly enhances link stability and tracking robustness for AUVs in complex random media.