Variable Universe Fuzzy Method Based Control System Design For A Compact AUV

AUV(Autonomous Unmanned Vehicle),a kind of under water vehicle,has very high scientific research value and wide range of potential applications,as it is capable of cruising in a long distance meanwhile executing assignments,like data collection,in the deep ocean.A foolproof security system is the key for AUV to cruise in the complex and changeable ocean environments.Our lab,Under Water Information System Institution,has designed and built the first generation of AUV named "Xuanwu",based on which,in this paper,a new control algorithm and control system is designed.In the end,this article introduces the implementation of autonomous cruise of "Xuanwu".Due to the uncertainty and coupling of dynamic model which bring about many difficulties,a dynamic model of 6 degrees of freedom for "Xuanwu" is constructed first.Then,a new control algorithm is proposed based on variable universe fuzzy method and S surface control method.As no accurate model is needed,it has a lot of advantages such as easy to design and convenient to realize.What's more,it is strongly robust.A path following algorithm is presented as well,which performs well in simulation.Finally,a embed control system is implemented depend on the theory studied above.The validity of the theoretical analysis and the feasibility of the proposed design methods are verified with the simulation and experimental results.