The Impulse Output Control of Multiple Thrusters AUV Based on the S-plane algorithm

This paper considers the problem of excessive inertial deviation in the attitude adjustment process of multi-propulsion vehicle, which decreases the path tracking accuracy of the AUV in the complex underwater environment. In order to address this problem, the S-plane control algorithm is adopted to realize the tracking control of the vehicle by combining the multi-propulsion pulse output asymptotic control. The kinematic model and dynamics model of the navigator are verified by simulation, and the field experiments are carried out on the AUV "Haiwei 1" developed by the authors. The results show that the method can effectively reduce the inertial deviation in the process of attitude adjustment of the vehicle and improve the accuracy of path tracking control.