Research status and control technology of autonomous underwater vehicle variable buoyancy system

The application of variable buoyancy systems (VBS) in autonomous underwater vehicles (AUVs) have greatly improved their maneuverability, endurance, adaptability to environmental change and ability to accomplish a variety of tasks. As there are various types of AUVs, the types of VBS are also different. Thus, it is necessary to further research AUV VBS and control technology. First, the principles and characteristics of different types of AUV VBS are explained in detail, and their applicable scenarios summarized. Typical applications of VBS in AUV maneuvering control are then introduced, including balancing, hovering, landing and bottoming. Next, the existing buoyancy adjustment technology, buoyancy observation technology and cooperative maneuvering control technology of AUV VBS are reviewed and evaluated. Finally, the development prospects of AUV VBS are evaluated.