Altitude information fusion and bottom-following control for underactuated autonomous underwater vehicle
水下机器人高度信息融合与欠驱动地形跟踪控制

A bottom-following control problem is studied for an underactuated autonomous underwater vehicle (AUV) with an altimeter and a doppler velocity log (DVL). The Takagi-Sugeno decision approach fuses the altitude information from altimeter and DVL, which improves the altitude information perception capacity of AUV. The bottom-following control is discomposed into forward speed control and depth ontrol. The forward speed controller and the underactuated depth controller are solved by the S-plane control method and the backstepping method, respectively. The proposed method is tested in a real sea trial; the result shows that the method is feasible and effective.