Robust Adaptive Sliding Control for the Trajectory Tracking of an Unmanned Underwater Vehicle

This study addresses a robust adaptive sliding control scheme for the trajectory tracking of an unmanned underwater vehicle (UUV). First of all, a general dynamic model which is widely used for the dynamic modeling of UUVs is presented. The presented model is simplified by applying some assumptions to facilitate the design of controller. Since then, an adaptive sliding control scheme is proposed for the trajectory tracking of UUV and its stability is proved by Lyapunov stability theory. After which a dead-zone modification is applied to the designed adaptive control scheme in order to make it robust against model uncertainties and environmental disturbances. Finally, the robustness and efficiency of the proposed control strategy are demonstrated through simulation results. Also, the effect of design parameters on the performance of the controller is investigated.

Keywords:

Adaptive sliding control , Dead-zone modification , Robust adaptive control , Trajectory tracking , Unmanned underwater vehicles (UUVs)