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Trajectory tracking sliding mode control of underactuated AUVs

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Abstract

This paper deals with the control of underactuated autonomous underwater vehicles (AUVs). AUVs are needed in many applications such as the exploration of oceans, scientific and military missions, etc. There are many challenges in the control of AUVs due to the complexity of the AUV model, the unmodelled dynamics, the uncertainties and the environmental disturbances. A trajectory tracking control scheme is proposed in this paper; this control scheme is designed using the sliding mode control technique in order to be robust against bounded disturbances. The control performance of an example AUV, using the proposed method, is evaluated through computer simulations. These simulation studies, which consider different reference trajectories, show that the proposed control scheme is robust under bounded disturbances.

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Acknowledgments

We would like to recognize the financial support of the Kuwait Foundation for the Advancement of Science (KFAS) for the project KFAS 2013-5505-01.

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Authors and Affiliations

  1. Electrical Engineering Department, Kuwait University, P.O. Box 5969, 13060, Safat, Kuwait

    Taha Elmokadem & Mohamed Zribi

  2. Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, 02139, USA

    Kamal Youcef-Toumi

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  1. Taha Elmokadem
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  2. Mohamed Zribi
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  3. Kamal Youcef-Toumi
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Correspondence to Mohamed Zribi.

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Elmokadem, T., Zribi, M. & Youcef-Toumi, K. Trajectory tracking sliding mode control of underactuated AUVs. Nonlinear Dyn 84, 1079–1091 (2016). https://doi.org/10.1007/s11071-015-2551-x

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  • DOI: https://doi.org/10.1007/s11071-015-2551-x

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