Nonlinear Dynamics

, Volume 84, Issue 2, pp 1079–1091

Trajectory tracking sliding mode control of underactuated AUVs

  • Taha Elmokadem
  • Mohamed Zribi
  • Kamal Youcef-Toumi
Original Paper

DOI: 10.1007/s11071-015-2551-x

Cite this article as:
Elmokadem, T., Zribi, M. & Youcef-Toumi, K. Nonlinear Dyn (2016) 84: 1079. doi:10.1007/s11071-015-2551-x


This paper deals with the control of underactuated autonomous underwater vehicles (AUVs). AUVs are needed in many applications such as the exploration of oceans, scientific and military missions, etc. There are many challenges in the control of AUVs due to the complexity of the AUV model, the unmodelled dynamics, the uncertainties and the environmental disturbances. A trajectory tracking control scheme is proposed in this paper; this control scheme is designed using the sliding mode control technique in order to be robust against bounded disturbances. The control performance of an example AUV, using the proposed method, is evaluated through computer simulations. These simulation studies, which consider different reference trajectories, show that the proposed control scheme is robust under bounded disturbances.


Autonomous underwater vehicles AUV Underactuated  Trajectory tracking Sliding mode control 

Funding information

Funder NameGrant NumberFunding Note
Kuwait Foundation for the Advancement of Science (KFAS) (Kuwait-MIT Center)
  • KFAS 2013-5505-01

Copyright information

© Springer Science+Business Media Dordrecht 2015

Authors and Affiliations

  • Taha Elmokadem
    • 1
  • Mohamed Zribi
    • 1
  • Kamal Youcef-Toumi
    • 2
  1. 1.Electrical Engineering DepartmentKuwait UniversitySafatKuwait
  2. 2.Department of Mechanical EngineeringMassachusetts Institute of TechnologyCambridgeUSA

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