Design and analysis of fully-actuated AUV's three-dimensional path tracking control system

  Objectives  In order to meet the requirements of underwater search and rescue, recovery and submarine geomorphology imaging of fully-actuated Autonomous Underwater Vehicle (AUV), the application method of its three-dimensional path tracking control is studied.

  Methods  The composition of the self-developed fully-actuated "T-SEA I" AUV was described. The mathematical models of the thruster, horizontal and vertical controls of the AUV were studied and established. A novel intelligent integrated S surface controller of three-dimensional path tracking was designed, and the stability of the system was analyzed. The simulation analysis and lake trial were undertaken.

  Results  The results show that the AUV developed in this paper runs reliably. The controller designed can better complete the three-dimensional path tracking task and meet the actual underwater task requirements.

  Conclusions  The AUV three-dimensional path tracking controller can be used for reference in the application of fully-actuated AUVs and the path tracking control in other fields.