Abstract: Aiming at the problems of slow convergence speed and poor anti disturbance ability when classical PID control is applied to position and attitude control of underwater vehicle, a seriesparallel PID control method (SPPID) based on singular perturbation method is proposed. Firstly, the time scale decomposition method is used to obtain the fast and slow subsystem model of the underwater vehicle, and the SPPID is designed according to the singular perturbation method. Secondly, based on the selfdesigned underwater vehicle, the least square method is used to measure the hydrodynamic parameters. Finally, simulation and experiment show that SPPID has faster convergence speed and higher robustness.

Key words: underwater vehicle, singular perturbation, series parallel PID control, attitude control