A novel in-situ heading control strategy for the multi-mode underwater vehicle

Abstract

This paper presents a multi-mode underwater vehicle (MUV) designed to enhance its maneuverability and adaptability for performing diverse tasks during ocean observation. The focus is on enhancing its in-situ maneuverability, particularly with respect to attitude transformation and heading adjustment. The study employs Lyapunov stability theory to assess the vehicle’s attitude stability. The analysis demonstrates that the roll and pitch angles are asymptotically stable, while the yaw angle is neutrally stable. The paper then proposes three control strategies — conventional, critical, and supercritical state reset control strategies — to improve heading adjustments. Simulations show the feasibility of these strategies, with the supercritical strategy achieving up to 150°of heading adjustment. Pool experiments further validate the effectiveness of the proposed strategies, particularly in in-situ heading adjustment. The work presents a novel approach to attitude control in underactuated MUV, with promising implications for enhancing the maneuverability of similar underwater platforms.