Autonomous underwater vehicles require a reliable control system for positioning, navigating, and executing certain duties, and the hovering state places additional demands on the control system. Maintaining a stable hovering condition for autonomous underwater vehicles in an uncertain ocean environment is extremely difficult due to significant coupling and nonlinearity. This article first summarizes and analyzes the development process and research status of autonomous underwater vehicles. Next, provide a kinematic model. Then, the development of hovering control technology for autonomous underwater vehicles was introduced, and the application of hovering control methods for autonomous underwater vehicles in practical engineering was introduced. Several control methods were simulated and applied in hovering autonomous underwater vehicles. Finally, the difficult problems of autonomous underwater vehicles hovering control technology are analyzed and the future development prospects of autonomous underwater vehicles are prospected.
Basic control methods for autonomous underwater vehicles hovering
2024-06-14
368629 byte
Conference paper
Electronic Resource
English
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