Xu Huixi

Diving control of autonomous underwater vehicle based on cascade control and tracking differentiator

This paper proposes a novel diving plane control scheme for autonomous underwater vehicle (AUV) based on tracking differentiator (TD) and cascade control (CC). The outer loop controller and inner loop controller adopt PI and P, respectively. Firstly, the mathematical model of AUV is established. The model consists of two parts: one is the depth model, and the other is the pitch model. Then, both controllers are designed by using CC with the tracking differentiator. The TD can filter the white noise of input signals and make the noise have little influence on control performance. Simulation results demonstrate the effectiveness of the proposed method.