Research Of Differential Geometry Method Of Underwater Vehicle Motion Control

Since the early 1970s, differential geometry control theory has acquired progress in the field of nonlinear system. With the development of it, differential geometry analysis methods resolved many problems of most engineering fields. Be different from other control methods, differential geometry deals with nonlinear problems in substance. Underwater vehicle (UV) motion control was so representative in nonlinear systems, so UV control with differential geometry can be carried out with good fruit.Firstly, the development history of UV control was summarized, and research status of differential geometry decoupling control of nonlinear system, in which included basic conception, theorem and some propositions and conclusions. Secondly, usual terms of UV manipulation was mentioned, on the basis of which model of vertical motion was predigested with reasons, and translation from differential function to state space form was done, which fit to decoupling algorithm of differential geometry. Thirdly, UV control was the research object, and application of state feedback decoupling method was done to UV vertical motion control, and by use of differential geometry control theory, the decoupling laws were established. For validation of correctness of theory deduction, computer data simulation of UV motion under decoupling control was carried out, and the results shows that the decoupling control algorithm is correct and reasonable.Next step of the research was suggested to implement general motion of vertical plane and that of horizon plane, and in the future, motion with 6 DOF in space may be researched, designing corresponding decoupling law.