Abstract
The software and hardware architecture of a certain AUV's motion control system based on embedded operation system are respectively described, and the data flow of motion control process is also discussed. Meanwhile, a switch function is presented to smooth the instruction output during joint operating with rudders and thrusters; a modified S-plane Controller (MSC) is proposed by analyzing underwater vehicle's dynamics and taking static force and coupling effects between the longitude velocity and other dimensions into account. Finally, some experiments are conducted, and the results prove the motion control system feasible.
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