Optimal control based on buoyancy compensation for UUV in low-speed state

In order to solve the stable control problem produced by the disturbance on unmanned underwater fighting platform in low-speed state, an effective optimal control strategy is proposed. By establishing UUV longitudinal plane movement mathematical model and linearizing the model, the system state equations with double input of the level rudder and buoyancy compensation are obtained, then the linear quadratic optimal control scheme based on buoyancy compensation is desighed. Simulation examples that compare the optimal control scheme with the classical control scheme are given, the result shows that the optimal control scheme can be faster and more effectively make the disturbed system stable, and verifies the feasibility and advantage of the scheme. The simulation research provides the theoretical basis and technical support for the stability control for unmanned underwater fighging platform load release in low-speed state.