On the motion control strategy of AUV to optimize the voyage resistance

Energy is usually the most limiting resource on activity of AUVs. It is urgent to minimize the resistance caused by the AUV motion so as to diminish the propulsion energy consumption, when AUV sails near the water surface. In this paper, to optimize the energy consumption, the dynamic resistance mathematical model of AUV, which states the relationship between the resistance and the motion/velocity of AUV, is built. To obtain the stabilized position and decrease the energy consumption, we build the longitudinal model of AUV and applicate the terminal sliding mode control method, which can also solve the problem of nonlinear characteristic and parameter uncertainty of the model of AUV. As a result, not only the pitch angle of the AUV is decreased by the sliding mode control method efficiently, but also the resistance caused by the pitch motion. Simulation analysis verifies the correctness of the dynamic resistance model and control method.