Sliding Mode Control for Autonomous Underwater Vehicle under Open Control Platform environment

This paper discusses the feature of an Autonomous Underwater Vehicle (AUV) using Sliding Mode Control (SMC) under the Open Control Platform (OCP). Considering with the torpedo model in AUV test-bed, SMC is chosen to control the diving and steering maneuver of the AUV. This experiment uses ACE/TAO Real-Time Event Channel (RTEC) as a middleware platform for enabling control and communication in the AUV test-bed development. In this paper, two computers are used in the experiment, and each of it is dedicated for specific purpose in the AUV system. The first computer is used for AUV dynamics. The second computer used as SMC controller module. Finally, we evaluate the performance of SMC in the proposed environment.