Control of dynamic position system for AUV with multiple thrusters

For long-range and low speed AUV, dynamic location depending on vertical and horizontal thrusters, no rudders was studied at large attack and slide angles. The situation when the attack angle and the slide angle are 90° was discussed. A nonlinear model in that situation was designed and the variable structure controlling law was used to make the AUV get to the dynamic position in the vertical and horizontal planes. The simulated results show that the vehicle can basically achieve the given position and orientation.