Autonomous Underwater Vehicle Depth Dual Mode Smooth Control

In order to meet the requirements of the autonomous underwater vehicle (AUV) to complete the task at low speed, and achieve the requirements of high utilization rate and low energy consumption of the actuator, this paper proposes a soft switching method based on S-function to realize the smooth switching of the depth control of the vertical thruster and the depth control of the horizontal rudder. The fuzzy control strategy of actuator switching is designed to monitor and evaluate the current depth change rate and attitude of AUV in real time, and the decision-making process of dual-mode smooth switching is completed. Combined with the vertical plane motion model of AUV, the stability analysis of the proposed switching method with two depth control modes is carried out, and the results show that the proposed S-function is asymptotically stable for the system. The experimental results show that the dual-mode smooth switching strategy and method proposed in this paper are effective.