The Research of the AUV Navigation Control System based on the LS-SVM

摘要

to successfully control the depth and attitude of the AUV precisely, it is extremely important to study the algorithm of the control. The LS-SVM has been successfully used to predictive control on small samples, nonlinear data. It is presented the predictive model methodology in the paper. The control results are influenced by the parameters on the LS-SVM. They are optimized by genetic algorithm, according to root mean square relative error. The AUV control on LS-SVM is including the direction, depth, trims and roll movement. And the AUV depth control, for example, is predicted by the LS-SVM predictive methodology in detail. For validating the designed control algorithm, related simulations and experiments have been carried out on the AUV control system. Analytical results show that the proposed control system accomplishes precise depth control of the AUV, providing a necessary theoretical basis for further study of the dynamic control problem for AUV on small sample.