Abstract
Autonomous Underwater Vehicle (AUV) is an unmanned submarine that is currently being developed. In this research, a sliding mode controller will be designed to adjust the following motion of an AUV: surge, heave and yaw. We developed a mathematical model for an AUV with active ballast at a certain depth. The results showed that the hitting time for surge, heave, yaw motions is less than 12.7 seconds, 9.8 seconds and 6.9 seconds, respectively. Steady state error on surge, heave and yaw motion is less than 0.0003%, 0.0005% and 0.0003%. Finally, overshoot of the response of each motion is 0%.
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