Discrete-time quasi-sliding mode control of an autonomousunderwater vehicle

This paper presents a discrete-time quasi-sliding mode controller for an autonomous underwater vehicle (AUV) in the presence of parameter uncertainties and a long sampling interval. The AUV, named VORAM, is used as a model for the verification of the proposed control algorithm. Simulations of depth control and contouring control are performed for a numerical model of the AUV with full nonlinear equations of motion to verify the effectiveness of the proposed control schemes when the vehicle has a long sampling interval. By using the discrete-time quasi-sliding mode control law, experiments on depth control of the AUV are performed in a towing tank. The controller makes the system stable in the presence of system uncertainties and even external disturbances without any observer nor any predictor producing high rate estimates of vehicle states. As the sampling interval becomes large, the effectiveness of the proposed control law is more prominent when compared with the conventional sliding mode controller