Modeling and Variable Structure Control of Autonomous Underwater Vehicles with Moving Mass


Article Preview

In order to solve the problem of general fins and rudders being lower at low moving speed, the moving mass technical is applied onto AUV, thus to radically solve the weakness of control method with fin and rudder. The space dynamics model of moving mass control is created for AUV. And based on this, the moving mass control system is designed with the sliding mode variable structure control method so as to ensure system tracking error zero convergence. By controlling the moving mass movement with moving mass control system, the attitude of AVU is previously controlled. And simulation result proves that moving mass control system will control the AUV attitude angle precisely and rapidly.



Edited by:

Han Zhao




E. Zhao and B. W. Song, "Modeling and Variable Structure Control of Autonomous Underwater Vehicles with Moving Mass", Applied Mechanics and Materials, Vols. 130-134, pp. 1963-1967, 2012

Online since:

October 2011





[1] C A Woolsey, N E Leonar: Stabilizing underwater vehicle motion using internal rotors[J]. Automatica, vol. 38(12), pp.2053-2062, (2002).


[2] Regan F J, Kavetsky R A: Add-on controller for ballistic reentry vehicles[J]. IEEE Transactions on Automatic Control, vol. 12(6), pp.869-880, (1984).

[3] Yi Yan, Zhou Fengqi, Zhou Jun: Moving-Mass-Center control of missile[J]. Journal of Northwestern Polytechnical University, vol. 20(1), pp.117-120, (2002).

[4] Woolsey C A, Leonard N E: Moving mass control for underwater vehicles. Proceedings of the American Control Conference, Anchorage, pp.2824-2829, AK (2002).

[5] Graver J G: Underwater Gliders dynamics Control and Design. New Jersey. Prineton University, (2005).

[6] Li J-W, Song B-W, Shao cheng: Tracking control of autonomous underwater vehicles with internal moving mass. ACTA AUTOMATICA SINICA, (2008).


[7] Ge Hui, Xu Demin, Zhou Qinying: Dynamic modeling of a low speed underwater vehicle based on moving mass control. Mechanical Science and Technology, vol. 26(3), pp.327-331, (2007).

[8] Healey Anthony J, David Lienard: Multivariable Sliding Mode Control for Autonomous Diving and Steering of Unmanned Underwater Vehicles. IEEE Journal of Oceanic Engineering, vol. 18, pp.327-338, (1993).