Application of extension integral variable structure control method on simulation of AUV heading control system

Concerning about the complicated pole assignment of integral variable structure control under strong coupling condition, the paper combined the idea of intelligent control with traditional integral variable structure control by introducing extension logic into the algorithm and designed an extension integral variable structure controller for the heading control system of AUV. Applying it on simulation of heading control system, results demonstrated the stability, robustness and effectiveness of the controller. To some extent, the controller reduced the complexity of adjustment of pole position.