June 2021
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23 Reads
This paper addresses the problem of roll control for X-rudder underwater vehicle, in which all of the rudders can be operated independently. To realize the roll control of X-rudder underwater vehicle, a roll control map for manual remote control and a motion controller with roll dynamics for autonomous control are proposed. For the motion controller, it is composed of a dynamics controller and a control allocator. The dynamics controller is based on PID control method and the control allocator is based on SQP algorithm. By conducting field tests, the functionality and superiority of the proposed control methods are verified.