Sliding mode controller for three-dimensional trajectory tracking of AUV based on feedback linearization

Abstract

To solve the problems of autonomous underwater vehicles, such as strong nonlinear coupling, model uncertainty, and unknown disturbance, in complex marine environments, an approach based on the exact feedback linearization of differential geometry is proposed in this study. The proposed method can convert a vehicle model into a linear model and reduce the systematic error caused by a nonlinear model. The proportional integral observer is designed to accurately observe the unknown disturbance in complex marine environments. Then, the sliding mode controller is designed using the adaptive variable parameter method to eliminate chattering. The Lyapunov stability theorem is used to prove the robustness and stability of the designed controller under unknown external disturbances. The numerical simulation results illustrate the effectiveness and good performance of the proposed controller.