Auto Position Control for Unmanned Underwater Vehicle Based on Double Sliding Mode Loops

  • Wei JiangEmail author
  • Jian Xu
  • Xiao-Feng Kang
  • Liang-liang Wang
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10954)


To deal with the large speed jump and position overshoot when desired position changes suddenly for UUV in the horizontal plane, an auto position controller based on double sliding mode loops is proposed. In comparison with the conventional control approach, the virtual speed is adopted in the proposed controller designing. Double loops are contained in the designed controller, and sliding mode surface is both contained in the outer loop and inner loop. The outer loop generates the virtual speed of UUV to avoid the large speed jump, while the inner loop realizes the speed tracking and eliminate the error between virtual speed and real speed. To estimate the uncertainty of the UUV’s motion model and the environment disturbance, an adaptive law is adopted. The stability of the proposed control method is proven based on Lyapunov stability theory, and the effectiveness of the proposed controller is demonstrated through simulation.


UUV Double sliding mode loops Virtual speed Auto position 



This work is supported by Science and Technology Research Project of Hubei Provincial Department of Education under Grant No. B2016433.


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Copyright information

© Springer International Publishing AG, part of Springer Nature 2018

Authors and Affiliations

  • Wei Jiang
    • 1
  • Jian Xu
    • 2
  • Xiao-Feng Kang
    • 2
  • Liang-liang Wang
    • 1
  1. 1.Department of Information Engineering, City CollegeWuhan University of Science and TechnologyWuhanChina
  2. 2.College of AutomationHarbin Engineering UniversityHarbinChina

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