High order sliding mode control applied to a heavyweight torpedo

In this paper, we elaborate a sliding mode control from a simplified linear model of a heavyweight torpedo. Then, we use this control law with the torpedo's nonlinear model in order to evaluate the robustness of the control law in relation to the parametric uncertainties of the model (the hydrodynamics coefficients...), and to the sea current's perturbation. The development of the first and second order sliding mode control is described and used in numerical simulation with the torpedo's nonlinear hydrodynamic model. Numerical simulations results enlighten the performances of such controller. The sliding mode controllers correct the imprecision of the hydrodynamic coefficients, the sea current's perturbations and the simplified linear representation of the torpedo's dynamics. The implementation of a first and second order sliding mode control in a heavyweight torpedo of type F17 mod2, conceived by DCN Armes sous-marines, is the main contribution of this work