a high order sliding mode control for autonomous underwater vehicle (AUV)

Abstract

In this paper, a High Order Sliding Modes Control (HOSMC) approach is used to control an autonomous underwater vehicle. Autonomous underwater vehicle motion in ocean conditions requires investigation of new control solutions that guarantee robustness against external parameter uncertainty. Sliding Mode Control (SMC) is adequate for controlling AUVs, since it offers robustness in the presence of uncertainties and environmental disturbances; however the main drawback is the chattering effects that stimulate high frequency vibration that can damage the actuators. HOSMC control preserves the properties of standard SMC and removes the chattering effects. Therefore it is able to improve a capability to track the desired state of the proposed autonomous underwater model. Different simulations have been carried out to show the performance and effectiveness of the proposed method.