Modeling, Sliding Mode Control Design, and Visual Simulation of Auv Dive Plane Dynamic Response

A sliding mode autopilot for depth control of an Autonomous Underwater Vehicle (AUV) is designed. The controller is evaluated for a linear model and optimized by a series of numerical experiments for a number of depth changing maneuvers. The effects of varying control parameters is discussed. Controller performance is assessed by visual simulation of AUV dynamic response based on the full six degree of freedom nonlinear equations of motion. This graphical simulation provides an efficient testbed for control design assessment. The robustness of the sliding mode control law is demonstrated by comparison between predicted and actual vehicle response characteristics. Suggestions for design improvement and directions for future research are indicated. Finally, the presentation includes a video of the diving performance obtained as seen through the visual simulator.