Abstract
Autonomous Underwater Vehicles (AUVs) are becoming indispensable for the maritime industry and defense applications. The nonlinear, time-varying, and highly coupled dynamics of AUVs, along with the parametric uncertainties and unmodeled dynamics, make the design of efficient controllers a hard task. This article explores a robust control strategy that aims at providing better tracking accuracy by reducing the switching gain in order to reduce chattering and the control error bandwidth. The performance of the proposed controller is demonstrated through rigorous simulation on an experimentally validated AUV, and superior path tracking performance is noted against sliding mode and time delay control methodologies under various uncertain conditions.
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