Abstract: Aiming at the problem of allocation accuracy and computational efficiency of X-rudder autonomous underwater vehicle (AUV) attitude control with four independent rudder blades, an improved quadratic programming algorithm is proposed to reduce the calculation amount while satisfying the allocation accuracy. The Lagrange multiplier method is used to replace the smooth Newton method used in the sequence quadratic programming method to optimize the solution calculation. The method effectively reduces the iterative cycle calculation while preserving the calculation accuracy of sequence quadratic programming. The results of X-rudder AUV motion control in the simulation environment show that the improved control allocation algorithm can reduce the calculation time by 40%, and the control allocation deviation is not more than 003N·m. The effect of AUV attitude control is good.

Key words: X-rudder; autonomous underwater vehicle (AUV); control allocation; improved quadratic programming; motion control