Second-order sliding-mode controller for autonomous underwater vehicle in the presence of unknown disturbances

摘要

We propose the use of a second-order sliding-mode controller (2-SMC) to stabilize an autonomous underwater vehicle (AUV) which is subject to modeling errors and often suffers from unknown environmental disturbances. The 2-SMC is effective in compensating for the uncertainties in the hydrodynamic and hydrostatic parameters of the vehicle and rejecting the unpredictable disturbance effects due to ocean waves, tides, and currents. The 2-SMC is comprised of an equivalent controller and a switching controller to suppress the parameter uncertainties and external disturbances, and its closed-loop system is exponentially stable in the presence of parameter uncertainties and unknown disturbances. We performed numerical simulations to validate the proposed control approach, and experimental tests using Cyclops AUVwere conducted to demonstrate its practical feasibility. The proposed controller increased the accuracy of trajectory tracking for an AUV in the presence of uncertain hydrodynamics and unknown disturbances.