In this paper, 3D track-keeping control method for Autonomous Underwater Vehicle (AUV) with and without the influence of ocean current is investigated. The design of an autopilot for the control of underwater vehicles is of interest both from the view of motion stabilization as well as maneuverability and path tracking performance. Because the system to be controlled is highly nonlinear, coupled, and there is a good deal of parameter uncertainty and variation with operational conditions, an approach is used to divide the control system into three subsystems. The first is to control the speed of AUV. The second is to control the heading and the tracking error on the horizontal plane. And the third is to control the pitch and the tracking error on the vertical plane. The results of computer simulation show that the autopilot works properly, it can capture the current waypoint and turn to track the next path automatically.
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