Abstract
Attitude Control for an underwater vehicle working in shallow wavy water is an important capability. In shallow water this mission most likely will be disturbed by the large surge induced hydrodynamic forces acting on the underwater vehicle. In this paper, the second order wave drift force affecting severely the underwater vehicle in shallow water are presented. On the basis of wave force analysis, three dimension disturbances caused by wavy surgy water are measured and a control system using least squares multi-order data fitting polynomial prediction and fuzzy compensation combined with PID controller is put forward. The experimental results show that the control system for disturbance of surge and wave is feasible and effective.
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