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International Journal of Dynamics and Control

, Volume 5, Issue 4, pp 1122–1138 | Cite as

Uncertainty and disturbance estimator based sliding mode control of an autonomous underwater vehicle

  • P. S. Londhe
  • Dinesh D. Dhadekar
  • B. M. PatreEmail author
  • L. M. Waghmare
Article

Abstract

In this paper, a highly non-linear model of an autonomous underwater vehicle (AUV) with six degrees-of-freedom is linearized to yaw (horizontal) and pitch (vertical) planes under several working conditions. For controlling steering and diving planes, an uncertainty disturbance estimator based sliding mode control (UDE-SMC) scheme is proposed and designed separately as single-input single-output controllers for horizontal and vertical plane dynamics of an AUV system. The proposed UDE-SMC scheme is effective in compensating the uncertainties in the hydrodynamic parameters of the vehicle and rejecting unpredictable disturbances due to ocean currents. The UDE-SMC consists of an equivalent and estimated lumped uncertain terms to suppress the effect of external disturbances and parametric uncertainties acting on the vehicle dynamics. Numerical simulations were performed to validate the UDE-SMC.

Keywords

Autonomous underwater vehicle (AUV) Uncertainty and disturbance estimator Sliding mode control Steering plane Diving plane 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  • P. S. Londhe
    • 1
  • Dinesh D. Dhadekar
    • 1
  • B. M. Patre
    • 1
    Email author
  • L. M. Waghmare
    • 1
  1. 1.Department of Instrumentation EngineeringShri Guru Gobind Singhji Institute of Engineering and TechnologyVishnupuri, NandedIndia

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