A study on robust control method of underwater vehicle using SMCSPO

摘要

The application of robust control method is required for the design of the automatic control system of the unmanned underwater vehicle which is operated in underwater environment under great disturbance. Sliding Perturbation Observer (SPO) was developed to overcome the chattering phenomenon which is a weak point of the sliding mode control. This control method can be applied to the control of underwater vehicle operating in strong environmental disturbances because it has the advantage of estimating and compensating for nonlinear components, modeling uncertainties and environmental disturbances of the system. In this study, the sliding mode control with sliding perturbation observer (SMCSPO) is simulated in an underwater vehicle to evaluate the disturbance compensation performance and compare it with a PID controller.