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For the UUV heading control, linear PD control is a simple and effective strategy, however, under most circumstances too large initial torque output is often provided to the rudder, and the maximum torque the rudder can bear is limited, which thus making the increase of the PD controller parameters as to further improve the heading control effects unavailable. In this paper, an adaptive robust PD controller for UUV heading system is designed to avoid excessive initial output torque. The computer simulation demonstrated that the designed controller is effective to eliminate the excessive initial output torque and external disturbance. Furthermore, the experiment for the heading control in Lake shows the feasibility and practicability of the proposed method.