The long-range autonomous underwater vehicle is a new underwater vehicle with capability of stereoscopic observation of the ocean over a wide range of time series. This article proposed a novel control strategy for the long-range autonomous underwater vehicle considering the energy consumption. The vertical motion model of long-range autonomous underwater vehicle and the mathematical model of energy consumption of motion actuators are established in this article, and the maneuverability simulation experiments were carried out to analyze its motion and energy consumption characteristics. A hybrid controller based on human simulating intelligent control and S-plane control is designed. Considering the moment caused by the asymmetry of the hull in motion, an adaptive dynamic control allocation strategy is designed. Simulation experiments are conducted to demonstrate the performance of the scheme proposed.

中文翻译：

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基于仿人智能控制方法的远程自主水下航行器垂直面节能控制

远程自主水下航行器是一种新型水下航行器，具有在大范围时间序列上对海洋进行立体观测的能力。本文提出了一种考虑能耗的远程自主水下航行器控制策略。本文建立了远程自主水下航行器的垂直运动模型和运动执行器能耗的数学模型，并进行了机动性仿真实验，分析了其运动和能耗特性。设计了一种基于模拟人智能控制和S平面控制的混合控制器。考虑到船体运动不对称引起的力矩，设计了自适应动态控制分配策略。