To provide a suitable model for AUV simulation and control purposes, a general nonlinear dynamic model including a novel thruster hydrodynamics model was derived. Based on the modeling method, the “AUV-XX” simulation platform was established to carry out fundamental tests on its motion characteristics, stability, and controllability. A motion control strategy consisting of both position and speed control in a horizontal plane was designed for different task assignments of underwater vehicles. Combined control of heave and pitch was adopted to compensate for the reduction of vertical tunnel thrusters when the vehicle is moving at a high speed. An improved S-surface controller based on the capacitor plate model was developed with flexible gain selections made possible by different forms of restricting the error and changing the rate of the error. Simulation results show that the derived general mathematical model together with simulation platform can provide a test bed for fundamental tests of motion control. Additionally, the capacitor plate model S-surface control shows a good performance in guiding the vehicle to achieve the desired position and speed with sufficient accuracy.
Fossen TI (1991). Nonlinear modeling and control of underwater vehicles. Ph.D. thesis, Norwegian Institute of Technology-NTH, Trondheim, Norway.
Fossen TI (2002). Marine control system: guidance, navigation and control of ships, rigs and underwater vehicle s . Marine Cybernetics, Trondheim , 254-260.
Gan Y ong , Sun Y ushan , Wan Lei, Pang Yongjie (2006). Motion control system architecture of underwater robot. Proceedings of the 6th World Congress on Intelligent Control and Automation, Dalian, China,8876-8880.
GanYong, Sun Yushan, Wan Lei, Pang Yongjie(2006). Motion control system of underwater robot without rudder and wing. Proceeding of the 2006 IEEE International Conference on Intelligent Robotics and Systems, Beijing, China, 3006-3011.
Li Xuemin, Xu Yuru (2002). S-control of automatic underwater vehicles. The Ocean Engineering, 19(3), 81-84. (in Chinese)
Li Ye, Liu Jianchen, Shen Minxue (2005).Dynamics model of underwater robot motion control in 6 degrees of freedom. Journey of Harbin Institute of Technology, 12(4), 456-459. (in Chinese)
Ren Yongping, Li Shengyi (2005). Design method of a kind of new controller. Control and Decision, 20(4), 471-474. (in Chinese)
Venugopal KP, Sudhakar R (1992). On-line learning control of autonomous underwater vehicles using feedforward neural networks. IEEE Journal of Oceanic Engineering, 17(4), 308-319.
Yuh J (1990). Modeling and control of underwater robotic vehicles. IEEE Transaction on Systems, Man, and Cybernetics, 20(6), 1475-1483.