The synthesis of AUV high-precision path following control system on the base of PD-controller

Autonomous underwater vehicle (AUV) are complex nonlinear dynamic objects with variable and uncertain parameters, operating in conditions of significant interacting between their degrees of freedom in the presence of external influences. For high-precision path-control of AUV the control system (CS) consisting of two loops is offered in this paper. First loop is the loop of tracking a target point and second loop is the loop of correction of position of this point. Thus, for improvement of characteristics of this CS in paper the method of synthesis of controller of target point position based on Lyapunov method is offered and the features of its implementation as part of on-board AUV CS are described. Performed mathematical simulation shows that the proposed AUV path controller provides highly accurate motion AUV for given spatial trajectories in the presence of external disturbances, as well as changing the parameters of the AUV.