The application of self-tuning fuzzy PID control method to recovering AUV

The dynamic positioning to line strategy and self-tuning fuzzy PID method are used to research on the control of recovering Autonomous Underwater Vehicle (AUV) by underwater ocean workstation in this paper. According to the AUV special shape and motion characters, the mathematic model of AUV is established. According to the high precision of position requirement, the two-point (the bow and the stern) dynamic positioning method (dynamic positioning to line method) is proposed, and self-tuning fuzzy PID theory is used to design the AUV four degrees of freedom controllers. The simulation results demonstrated that self-tuning fuzzy PID controller is more suitable than PID controller to solve the problems.