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| Adaptive S Plane Control for Autonomous Underwater Vehicle |
| LI Yue-Ming, PANG Yong-Jie, WAN Lei |
| (College of Shipbuilding Engineering; National Key Laboratory of Science and Technology on Autonomous Underwater Vehicle, Harbin Engineering University, Harbin 150001, China) |
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Abstract (Sigmoid) plane control method is an effective and simple method for the motion control of autonomous underwater vehicle (AUV). A velocity controller was constructed and analyzed by S plane control method. According to sliding mode controller (SMC), an integral S plane velocity controller with selfadapting integration step was proposed in order to make control parameters adjusted by motion state. Then a selfadapting item was improved for eliminating steadystate errors and adjusting dynamically S plane controller locally. Both pool and sea experiment results show that the improved controller is effective and the adaptability of AUV motion control is strengthened largely.
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Received: 09 December 2010
Published: 28 February 2012
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