Research and Development of a Control System for Miniature Autonomous Underwater Vehicles

A CAN-bus-based distributed autonomous underwater vehicle (AUV) control architecture with high cost-effectiveness is developed, and a unique method for failure handling is used. According to weak coupling simplified model, the autopilot control system is designed and simulated. Simulations and experiments show that the control architecture has high reliability and communication rate, and is highly robust and stable. It is completely competent for complex and multivariate operating environment of underwater vehicle.