The diving depth asymptotic stability control of AUV with control constraint

In this paper, based on the dynamics model, taking into account the disturbance and control constraint, diving depth asymptotic stability controller of autonomous underwater vehicles is designed. Based on the establishment of the mathematic model of AUV and the linearization of processing , and assumed that the hydrodynamic parameters of the vehicle nonlinear model are precisely measured, the control question researched have much practical significance by introducing bending deflection of fin angle control which has rigid limit characteristics. By using linear matrix inequality processing method, a robust tracking controller is designed. Depth asymptotically tracking of AUV is realized under the condition of control constraint. The result of simulation shows that the depth controller is effectively accomplished in spite of control fin angle deflection constraint.