A Sliding Mode PID Control with Backstepping for Underactuated AUV in Diving Plane

Abstract

For diving control of autonomous underwater vehicle (AUV), a sliding-mode PID control with backstepping is proposed. First, an equivalent model of AUV is developed. Then, the sliding mode control with an PID sliding surface is proposed for the trajectory tracking control of AUV. Moreover, the analysis of stability can be completed by Lyapunov stability theory. Finally, To validate the proposed control scheme, the simulation results are illustrated in this paper. Simulation results show that, the tracking precision and the robustness of the system are improved under the proposed control method.