Sliding Mode Controller Based on a Delayed Output Observer for Yaw Channel of an AUV

This paper considers a linearised yaw channel model of the autonomous underwater vehicle (AUV) of GUANAY II AUV. Present work developed a sliding mode controller based on a delayed output observer control scheme to track the position of the yaw channel. The proposed control scheme compensates for variations in hydrodynamic parameters, delays in the measurement signals, small and high magnitude time-varying disturbances acting on the yaw channel. The closed-loop trajectory tracking performance and stability are analysed. Furthermore, a computational tool, MATLAB Simulink, is used to demonstrate the efficacy of the proposed controller performance through simulation results.