Improved Adaptive High-Order Sliding Mode-Based Control for Trajectory Tracking of Autonomous Underwater Vehicles

• Published in: IEEE journal of oceanic engineering Vol. 49; no. 4; pp. 1337 - 1349
• Main Authors: Guerrero, Jesus, Chemori, Ahmed, Creuze, Vincent, Torres, Jorge
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.10.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE); Institute of Electrical and Electronics Engineers
• Subjects: Adaptation models; Adaptive control; Automatic; Autonomous underwater vehicles; Closed loops; Computer Science; Control stability; Control systems design; Controllers; Engineering Sciences; Feedback control; Nonlinear dynamical systems; Ocean currents; Performance degradation; Real time; Robotics; Sea currents; Sliding mode control; sliding mode control (SMC); Slumping; Tracking; Tracking errors; Trajectory tracking; Uncertainty; Underwater structures; Underwater vehicles; Vectors; Vehicle dynamics; Sliding Mode Control; Adaptive control; Trajectory Tracking; Underwater vehicles
• ISSN: 0364-9059; 1558-1691
• DOI: 10.1109/JOE.2024.3381391

When an autonomous underwater vehicle is performing missions in the ocean, it is often subject to external disturbances, such as sea currents and changes in salinity. These phenomena can degrade the performance of the controller of the vehicle, which can increase the tracking error or cause instability. Taking into account these issues, in this article, we design an adaptive controller based on high-order sliding mode control and focus on the paradigm of the trajectory tracking of underwater vehicles. First, we rewrite the classical representation of the underwater vehicle in terms of the known dynamics, and then transform it into a control affine structure. Then, we design an adaptive high-order sliding mode controller for trajectory tracking. Also, we prove the stability of the resulting closed-loop system using Lyapunov arguments. Finally, real-time experiments are performed to validate the proposed methodology, as well as its robustness.