Abstract
The Attitude control model for AUV is highly nonlinear and strong coupling six degrees of freedom model. With it, and complex disturbance of the marine environment a new control strategy chaos least squares support vector machines is proposed. The control model is infinitely approximated by least squares support vector machine. The parameters are optimized Chaos theory. It is formed the Chaos-LSSVM model. The purpose is to obtain excellent attitude control of quality. The Chaos-LSSVM predictive controller for AUV attitude is designed combined with a simplified longitudinal hydrodynamic equations and the ChaosLSSVM model. Meanwhile the stability of the attitude control system is ensured by the Lyapunov stability theory. Finally, examples of simulation results show that the control model can obtain a good control effect, improve the underwater vehicle dynamic positioning attitude control effectiveness and robustness.
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