The Depth Terminal Sliding Mode Technique Based-Funnel Control for Autonomous Underwater Vehicles

Abstract

This article proposes the design of a new funnel based sliding mode controller for Autonomous Underwater Vehicle’s (AUV) depth control. This work proposes a trajectory tracking control scheme. The control scheme is developed with sliding mode control method and is robust to limited disturbances. Additionally, funnel variables are used to transform tracking error conditions within the funnel boundaries. Finally, the suggested control strategy has been validated by computer simulations. These simulation studies demonstrate the effectiveness of the suggested control.