Sliding mode control of autonomous underwater vehicle

In this study, an autonomous underwater vehicle (AUV) model with six degrees of freedom is presented to be shown having been linearized under several working conditions. Sliding Mode Control Law which is derived from linear theory is applied autonomous underwater vehicle for yaw steering plane. Simulation study is given to show that sliding mode controller designed assuming small states variation and decoupled plane cope with modeling non-linearity, uncertainty, disturbance effect.