Integral Sliding Mode Controller Design for Trajectory Following of a Six Degrees of Freedom Underwater Vehicle

This paper presents a robust integral sliding mode controller for trajectory following of a six degrees of freedom underwater vehicle. Sliding mode controller is robust to bounded external disturbances caused by ocean currents, parametric uncertainties, and inevitable modeling errors;but, it is prone to chattering phenomenon. Thus, to address this problem, we proposed an integral sliding mode controller. The controller was designed, and its stability was checked using a Lyapunov approach. The proposed controller was implemented using MATLAB/Simulink® software. A simulation results were presented, and also, its performance was compared with the conventional sliding mode controller. The proposed controller has been observed to effectively drive the vehicle along the desired trajectory, while also reducing the chattering effect when compared to the conventional sliding mode controller.