MOOS-IvP/ArduSub-Based AUV Three-Dimensional Path-Following Control System: Design and Implementation

Abstract

To fulfill the requirements for rapid development of high-performance AUV motion control systems, a three-dimensional (3D) path- following control system is designed and implemented based on the MOOS-IvP/ArduSub architecture. Using Lyapunov stability theory, an adaptive line-of-sight (ALOS) guidance law with variable look-ahead distances (VΔ-ALOS) is designed. Furthermore, based on pole placement, kinematic controllers for yaw angle and depth, along with dynamic controllers for surge velocity, yaw rate, and pitch angle, are designed, enabling dual-mode control comprising decoupled steering/diving plane control and 3D spatial path- following control. On the established simulation platform, hardware-in-the-loop (HIL) comparative experiments are conducted for two typical 3D paths (a “straight line–turning circle–straight line” path and a sinusoidal path) under compound disturbances including ocean currents, parametric uncertainty, communication delays, and sensor errors. The experimental results demonstrate that the proposed VΔ-ALOS guidance law exhibits significant advantages over the integral line-of-sight (ILOS) guidance law and two existing ALOS guidance laws in terms of dynamic performance and steady-state accuracy, with slightly lower propulsion control effort.