Modified S-Plane Control of AUV Based on Motion Compensation

S-plane control is proved to be a feasible method with disadvantages at high speed in application to AUV motion control. To compensate the motion couple effect at high speed, a modified S-plane controller is proposed by analyzing AUV´s dynamics and taking static force and coupling effects between longitude velocity and other dimensions into account. Besides the advantages of S controller such as simple structure, MSC can solve the motion control of AUV at high speed which is difficult to control with S-plane controller. Meanwhile, an actuator-oriented force allocation strategy is proposed for AUV´s compounding actuators to solve system vibration or divergence caused by control output jump during switch operating between rudders and thrusters. Finally, experiments of velocity control, yaw control and depth control are conducted, and the results prove the feasibility and advantages in application to AUV motion control.