Robust Dynamic Inversion Attitude Control for Miniature Underwater Vehicle

In order to solve the problems that the attitude model of miniature underwater vehicle was strong coupling, highly nonlinear and includes uncertain parameters, a robust dynamic inversion attitude control method was proposed for miniature underwater vehicle. The attitude model of miniature underwater vehicle was decoupled and linearized by using dynamic inversion control method. And the sliding mode variable structure method was applied to slow the problem that the control system was sensitive to parameter perturbation and the uncertainty of system modeling. The stability of the control system was verified by utilizing Lyapunov theory. The simulation results show that the designed control method not only satisfies the technical performance requirements for miniature underwater vehicle, but also has strong adaptability and robustness.