Abstract
This paper addresses the design of an adaptive sliding mode control for an autonomous underwater vehicle with the objective to reject bounded internal and external perturbations. The proposed control is used to achieve velocity regulation and autonomous path-following using waypoints. Each task is successfully performed in the presence of parametric uncertainties and irrotational water currents. Due to complex dynamics and random external perturbations, underwater vehicles need robust control. The closed-loop stability and finite-time convergence of the system are demonstrated using the Lyapunov direct method. To provide a detailed and realistic testing environment for the proposed adaptive controller, a dynamic model of the vehicle using the Lagrange method is derived where all underwater effects are included. On that basis, the proposed adaptive sliding mode controller is compared to its non-adaptive equivalent and PD (Proportional Derivative) computed torque control. The simulation results demonstrate that the proposed adaptive control has better robustness and precision for this particular type of vehicle.
Highlights
Autonomous Underwater Vehicles (AUVs) play an important role today in the offshore industry or ocean exploration as they can reach places where human intervention is dangerous or even impossible
Underwater vehicles are generally modeled as 6 degrees of freedom (DOF) systems
We provide first all the numerical values of the model parameters to simulate the underwater behavior of the AUV for different scenarios
Summary
Autonomous Underwater Vehicles (AUVs) play an important role today in the offshore industry or ocean exploration as they can reach places where human intervention is dangerous or even impossible Their tasks can go from simple visual inspection to more complex interactions [1]. For the specific case of micro AUVs, as their mass is inferior to 4.5 kg [5], the effect of any external disturbance is much greater than for classical heavy underwater vehicles. This constraint requires control for this category of vehicles to have good performance in terms of disturbance rejection and tracking error. Majority of the models are derived from Newton/Euler approach [7,8,9]
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