Modeling and motion control system research of a mini underwater vehicle

Spatial motion mathematic model of a mini autonomous underwater vehicle (in short, AUV) controlled by thruster and fins was established. The forces acting on the AUV were analyzed and the main hydrodynamic coefficients were determined both theoretically and experimentally. The embedded motion control system was introduced in detail, including hardware architecture, software architecture, information flow and etc. Considering the characteristics of the vehicle, the basic motion controller was designed based on S control method. Finally, a series of the AUV control system experiments in lake were done to verify the basic performance of the motion control system.