Adaptive Sliding Mode Control of Autonomous Underwater Vehicles in the Dive Plane

摘要

The problem of controlling an Autonomous UnderwaterVehicle (AUV) in a diving maneuver is addressed. The requirement forhaving a simple controller which performs satisfactorily in the presenceof dynamical uncertainties calls for a design using the sliding modeapproach, based on a dominant linear model and bounds on the nonlinearperturbations of the dynamics. Both nonadaptive and adaptivetechniques are considered, leading to the design of robust controllers thatcan adjust to the changing dynamics and operating conditions. Also, theproblem of using the observed state in the control design is addressed,leading to a sliding mode control system based on input-output signalsin terms of dive-plane command and depth measurement. Numericalsimulations using a full set of nonlinear equations of motion show theeffectiveness of the proposed techniques.