Depth control for underactuated AUV in vertical plane using optimal internal model controller

Abstract

To realize the optimal control of underactuated autonomous underwater vehicle (AUV) in vehicle plane with external disturbances, a optional internal model control (OIMC) is proposed with respect to the quadratic performance indexes. Firstly, the depth control model of underactuated AUV system and the wave model are proposed; then using internal model principle, the disturbances compensator is designed, which exactly offset the impact of external disturbances on the system, and the optional internal model control law is designed according to the different quadratic performance index, which is derived from the Riccati equation. Finally, the controller is applied to the dive plane control of AUV with wave force disturbances, and the results demonstrate the effectiveness and robustness of the controller.