Back-stepping integral sliding mode control (BISMC) application in a nonlinear autonomous underwater glider

摘要

This paper presents the evaluation of the backstepping integral sliding mode control implementation in an autonomous underwater glider (AUG). The glider is considered as an underactuated system and it is difficult to maneuver because of its dependency to the operational environment. The nonlinear controller is designed based on nonlinear motion equation for 1DOF internal movable sliding mass where the acceleration of internal movable sliding mass and the ballast pumping rate are set as the control inputs to the AUG. The proposed controller is designed for the tracking problem. The controller is designed and tested for the glide path moving from - 25° to 25°. The validity of the proposed controller is demonstrated via numerical simulation. The performance of the proposed controller is also compared to integral sliding mode control (ISMC). The simulation results have shown that the proposed controller demonstrates the reduction in chattering phenomena, steady-state error, and control effort.