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Analysis of AUV motion characteristic based on multi-factors closed-loop control system

The trajectory of autonomous underwater vehicle is influenced by the complex marine environment seriously. In this paper, we model the underwater six-degree of freedom motion based on the momentum and angular momentum theorem and ocean current model. By the analysis of the motion, we build a three channels closed-loop control system in terms of pitch, yaw and roll in order to ensure the stability and precision of the motion of the autonomous underwater vehicle. With the kinematics model and ocean current model, we analysis the characteristics of longitudinal plane and horizontal plane and roll characteristic motion with different speed. Simulation results indicate that the three channels closed-loop control system can effectively control the depth of autonomous underwater vehicle and ensure the stable and high Precision navigation for autonomous underwater vehicles.