Research on Integrated Roll and Yaw Control Strategy for AUV Diving Near Surface

During the Autonomous Underwater Vehicle (AUV) diving the water surface, the motion attitude of the AUV will change obviously under the influence of the random waves, which will threaten the safety of the underwater vehicle, so the motion of the underwater vehicle should be controlled. The AUV II of Naval Postgraduate School (NPS) is used as a research object, when the roll angle motion is reduced by using horizontal rudders, NPS also begins to yaw, which leads to the yaw direction deviation. In this paper, based on the mathematical model of the NPS AUV II, the sliding mode variable structure control principle is used to design the roll and yaw integrated controller of AUV by using horizontal rudders and vertical rudders. The standard deviation of roll and yaw angle is statistically analyzed to verify the performance of the controller.