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《Journal of Harbin Engineering University》 2002-01
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Improved S Plane Control Algorithm for Underwater Vehicles

LIU Jian_cheng, YU Hua_nan, XU Yu_ru (College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150001, China)  
Nonlinearity of underwater vehicles (UVs) and uncertainties of working environments make the precise control of AUVs difficult for some of the intelligent operations. S Plane Control(SPC) is a simple and effective method, but parameters must be manually set for its controller and its designer must have expert knowledge. Improved S Plane Control(ISPC) has its self-learning algorithm for on_line setting of control parameters.Simulation results show that Improved S Plane Controller(ISPC) is a useful control algorithm for underwater vehicles,which features higher precision, quicker response. and better robustness.
【CateGory Index】: TP242
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