Research on integrated controller to reduce the roll and pitch of the AUV with a horizontal rudder

When underwater vehicles sail near the surface at low speed, they will experience roll, pitch and heave heavily due to the disturbance from waves, sea wind, and currents. In order to improve the ability of the underwater vehicle to resist the disturbance, the horizontal rudder using the lift principle of zero speed fin stabilizer is proposed to reduce the roll and pitch of the underwater vehicle. Considering the underwater vehicle’s 6-DOF nonlinear and coupling motions and the working principle of the horizontal rudder, a modified sliding mode integrated controller is designed to reduce the roll and pitch under different wave disturbances. After analyzing the simulation results, it shows that the control law can reduce the roll and pitch of an underwater vehicle effectively