Underwater Vehicle Dynamic Positioning Control

The continual development of computer technology has enabled the expansion of advanced control into the field of autonomous underwater vehicles (AUVs), where potential uses include oceanographic research, environmental monitoring and military mine countermeasures. In this paper, through computer simulation, the problems of modeling, control and guidance of AUVs are presented.The first part of this paper addresses the problem of dynamically modeling of AUVs which is with two vertical and two horizontal thrusters .And talking about two situation, the one is when the attacking angle and sliding angle is very little, the other is when the attacking angle and sliding angle is very huge.The second part focuses on the nonlinear variable structure controlling law of AUVs in diving plane and steering plane when the attacking angle and sliding angle is very little. The requirement for having a simple controller which performs satisfactorily in the presence of dynamical uncertainties calls for a design using the variable structure controlling approach.. In this part ,through input force of the vertical and two horizontal thrusts ,using the variable structure controlling law ,the vehicle can make position in the promised donation.The third part is devoted to the problem of when the attacking angle and sliding angle is very huge ,the dynamic position of the AUV control. Like as the front part ,from the simulation ,the AUV can get to the promised position.In the last part, the study is mainly thinking about the dynamic position of AUVs controlled in the both vertical plane and horizontal plane as the same time. And the logical distribution of the thrusters is studied.