Selected optimal control from controller database according to diverse AUV motions

Autonomous Underwater Vehicle (AUV) system is one difficult controlled system because of its imprecise nonlinear math description and its complex disturbances. The motions of AUV are coupled with each other so the design of control law is stiff. In this paper, AUV model is departed into several subsystem models meanwhile some control laws are conceived for every subsystem. Furthermore, one controller database gathered with these control laws is designed to conveniently select some optimized control algorithms for different AUV motional requirement. These optimized algorithms are achieved based on minimizing the cost function of every subsystem and the robust capability to disturbances. Simulations results validate the controller database works well and show beautiful control results compared with other control algorithm with consistent control parameters.