A Feasible and Applicable Motion Control Method for AUV

Abstract

Both the high speed and the changing excess buoyancy can make it difficult in motion control of AUV, in order to solve the problems, an improved control method based on S-surface control is proposed. Taking static forces and coupling effects between longitude velocity and other dimensions into account, the compensation related to the speed is brought into the method to handle the effects caused by high speed. In accordance with the thoughts of S-surface control, an anti-windup intelligent integral method is presented to handle the changing excess buoyancy and propulsion loss via an adaptive weight determined by estimating the motion states of AUV. Finally, experiments of velocity control, yaw control and depth control are conducted, and the results prove the feasibility and advantages in application to AUV motion control.