Design of Variable Structure Attitude Control System for Unmanned Underwater Vehicle

For the feature that Unmanned underwater vehicle(UUV) model is coupling and nonlinear under some complex conditions, a variable structure attitude control method for UUV is proposed. The attitude model of UUV is transformed into large-scale interconnected system, and the attitude control system is designed by variable structure control method. The stability of the control system is verified by utilizing Lyapunov theory. The simulation results show that the designed control method has strong robustness.