Depth Advanced Control of an Autonomous Underwater Robot
DOI:
https://doi.org/10.5281/zenodo.8070453Keywords:
Autonomous underwater robots, control, High order sliding modes control, sliding modes control, mobile robot, depth controlAbstract
This autonomous underwater robot control is a very challenging task because of autonomous underwater robot
system nonlinearity, time-variance, uncertain external disturbance and difficulty in hydrodynamic modeling.
Based on detailed autonomous underwater robot control survey and description of autonomous underwater
robot dynamics, this paper proposes to introduce new control law algorithm based on high order sliding modes
(HOSM) for depth control of the autonomous underwater robot. A comparison with classical sliding mode
(SM) is carried out as well. These control techniques are based on second order sliding modes. High order
methods allow overcoming the chattering effect by removing the discontinuity of the control vector. We show
that these high order controllers hold the properties of classical SM control laws and remove chattering
problem. Different simulations have been carried out to show the performance and effectiveness of the
proposed method.
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