Design of a dead reckoning based motion control system for small autonomous underwater vehicle

In this paper, the problem of motion control for small autonomous underwater vehicle (SAUV) is addressed. Firstly, for the position detection problem of SAUV underwater sailing, the dead reckoning method based on Doppler Velocity Log (DVL), compass and depth gauge is proposed. Then, aiming at the problem of controller designing for SAUV trajectory tracking, the segmented control strategy combining PD-sliding mode control with traditional PID control is proposed. And then, the angle priority thrust allocation method is introduced. Finally, the pool experiments are carried out to verify the effectiveness of the proposed method.