The networked underwater vehicle's yaw control system based on sliding mode controller

Abstract

The underwater vehicle' yaw control system is a distributed networked control system containing sensors, controller and actuators. Networked control system (NCS) can be disturbed by time delay of data packages and transmission interference. The stability of controller in the system can weaken these disadvantages. This paper investigates sliding mode control (SMC) for the networked underwater vehicle yaw control system. A linear vehicle laterally mathematical equation is first obtained by linearizing the six-degree-freedom motion dynamics of a submarine. And based on the linear equation and sliding mode control theory, the heading controller is designed. The closed-loop system is analytically proved to be stable by Lyapunov stability theory. Using the TrueTime platform, a networked control system under the Ethernet is established, to demonstrate the effectiveness of the proposed controller. The numeric simulations indicate that the presented controller can strengthen stability of NCS.