Adaptive Backstepping Sliding Mode Attitude Control for AUVs Subject to Model Errors and Unknown Disturbances

• Published in: OCEANS 2022, Hampton Roads pp. 1 - 5
• Main Authors: Yang, W. C., Du, P. Z., Hu, R. Y., Wang, Y. Q., Xu, D. W., Huang, S. H.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 17.10.2022
• Subjects: Adaptation models; adaptive control; Attitude control; Autonomous underwater vehicles; Backstepping; Oceans; Roads; Simulation; sliding mode control

This paper describes a novel adaptive backstepping sliding mode control (ABSMC) algorithm for a compact autonomous underwater vehicle subject to model errors and unknown disturbances. The closed-loop stability of the control system is demonstrated using the Lyapunov direct method. Simulation results...