The autonomous underwater vehicle can be affected by sea flow and other factors when in a motion to a certain fixed depth. To guarantee the stability of cruise trajectory of autonomous underwater vehicle and considering the influence of sea flow on its motion, the underwater six-free-degree motion mathematical model for the vehicle is established in combination with the sea flow model. Besides, dynamic features of the longitudinal plane, horizontal plane and crosswise-rolling of the vehicle at different navigation speeds are simulated with the three-channel closed-loop control system. The simulation result indicates that the vehicle can move stably at a certain depth and with the achieved accuracy by means of closed-loop control.
Norm-Based Robust Pitch Channel Control of an Autonomous Underwater Vehicle
