Second order sliding modes control of underwater vehicles tracking the gradient of artificial potential fields

摘要

In this paper a multiinput second order sliding mode control algorithm for underwater vehicles trajectory tracking will be introduced. The proposed approach guarantess perfect tracking and stabilization even in presence of disturbances and uncertainties typical of this kind of systems. The trajectories to be tracked are designed basing on an artificial potential field technique. The control objectives are achieved by acting on the voltage of the motors driving the thrusters and the resulting forces and torques are continuous.