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

• Published in: Nonlinear dynamics Vol. 78; no. 1; pp. 183 - 196
• Main Authors: Joe, Hangil, Kim, Minsung, Yu, Son-cheol
• Format: Journal Article
• Language: English
• Published: Dordrecht Springer Netherlands 01.10.2014; Springer Nature B.V
• Subjects: Automotive Engineering; Autonomous underwater vehicles; Classical Mechanics; Computational fluid dynamics; Computer simulation; Control; Control systems; Controllers; Disturbances; Dynamical Systems; Engineering; Feedback control; Fluid flow; Hydrodynamics; Mathematical models; Mechanical Engineering; Ocean currents; Original Paper; Parameter uncertainty; Sliding mode control; Uncertainty; Vibration; Hovering-type underwater vehicle; 4-degree of freedom model; Uncertain nonlinear system

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...