PSO Based Variable Structure Control of Submarine at Near Surface Depth with Wave Action

As the submarine depth control near surface within wave action is characterized by nonlinear, uncertain interference and slow time variation, this paper proposes a kind of variable structure controller(VSC) by improved sliding reaching control law for keeping submarine depth is proposed. The controller parameter of VSC in a submarine depth control system is optimized by using particle swarm optimization(PSO) aiming at one type of submarine. Based on Simulink, the depth control of submarine is simulated without disturbance and near the surface with wave action. The results of simulation shows that the VSC controller is suitable for depth control precision, also has low rudder range, non-chattering characteristic. The VSC controller based on PSO has good control quality and strong robustness. The VSC controller provides a feasible approach to the design of submarine autopilot.