Abstract:

A decoupling controller is designed for the hovering autonomous underwater vehicle (AUV). The expected submergence depth and trim angle are respectively achieved by two separate implementing agencies through the designed decoupling algorithm. The environmental disturbances such as the interference caused by the density changing of the sea water is taken into the simulation through the force modeling of them, and the performance of the controller is compared with the results of the simulations in the ideal environment. The affection of the environmental factors to the controller is analyzed qualitatively to discuss the necessity to consider the environmental factors during the designing of the controller for the AUV movements. The simulation results demonstrate the satisfactory performance of the designed controller working in the environment where there is no disturbance or only the wave inference is considered.