Nonlinear Dynamics

, Volume 78, Issue 1, pp 183–196 | Cite as

Second-order sliding-mode controller for autonomous underwater vehicle in the presence of unknown disturbances

  • Hangil Joe
  • Minsung Kim
  • Son-cheol Yu
Original Paper


We propose the use of a second-order sliding-mode controller (2-SMC) to stabilize an autonomous underwater vehicle (AUV) which is subject to modeling errors and often suffers from unknown environmental disturbances. The 2-SMC is effective in compensating for the uncertainties in the hydrodynamic and hydrostatic parameters of the vehicle and rejecting the unpredictable disturbance effects due to ocean waves, tides, and currents. The 2-SMC is comprised of an equivalent controller and a switching controller to suppress the parameter uncertainties and external disturbances, and its closed-loop system is exponentially stable in the presence of parameter uncertainties and unknown disturbances. We performed numerical simulations to validate the proposed control approach, and experimental tests using Cyclops AUV were conducted to demonstrate its practical feasibility. The proposed controller increased the accuracy of trajectory tracking for an AUV in the presence of uncertain hydrodynamics and unknown disturbances.


Hovering-type underwater vehicle 4-degree of freedom model Uncertain nonlinear system 



This research was supported by the Civil Military Technology Cooperation Center, Korea and Gyeonbuk Seagrant Program funded by the Ministry of Oceans and Fisheries, Korea and the Ministry of Science, ICT and Future Planning, Korea, under the IT Consilience Creative Program (NIPA- 2014-H0201-14-1001) supervised by the National IT Industry Promotion Agency.


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Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  1. 1.The Department of Creative IT EngineeringPOSTECHPohangRepublic of Korea

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