Sliding mode control of lateral dynamics of an AUV

This paper presents various sliding mode techniques starting from a conventional first order SMC and then integral SMC, Super twisting algorithm and real twisting algorithm) for the tracking control of the lateral dynamics of an autonomous underwater vehicle (AUV). Moreover the controllability and observability analysis of the lateral dynamics is given and a Slotine observer [J, -J. E Slotine, J. K Hedrick, E. A. Misawa 1987] has also been proposed for it. Based on the simulation results a comparison of various controllers is made. The higher order SMC provides a chattering free tracking and a model free control which is robust to parametric variations.