ADS adaptive sliding mode course controller with slow time-varying disturbance observer

During ADS underwater directional operation, the ADS system often encounters problems of external disturbances, parameter uncertainties and time-varying terms. An ADS adaptive sliding mode course controller based on disturbance observer is presented to solve these problems. The disturbance observer can eliminate slow time-varying system disturbance, and the adaptive sliding mode course controller can further compensate errors in order to meet the requirement for system course tracking performance. The dynamic model of ADS motion is introduced, then the design method for the adaptive sliding mode course controller based on disturbance observer is described in detail, and Lyapunov stability criterion is used to prove the system stability and convergence which is further testified by numerical simulation experiment. The simulation results show that the designed course controller has good robustness and achieves good controlling performance.