A New Funnel Sliding Mode Control for Autonomous Underwater Vehicles in the Vertical Plane

Abstract

In this paper, a new procedure for depth control of Autonomous Underwater Vehicles is proposed for the vertical tracking. This procedure is based on the combination of sliding mode control and funnel control. A variable funnel is used to transform tracking error fall within the funnel boundary. Numerical simulations show the effectiveness of proposed control framework; it is demonstrated that proposed controller has accurate good tracking performance.