Robust Adatpive Sliding Mode Tracking Control for an AUV

In our work, the research on trajectory tracking with time-varying disturbances is investigated via robust adaptive sliding mode control (RASMC). We first design a nonsingular sliding mode surface for tracking error system and show that the sliding mode surface is continuous. Then, since the underwater environment is very complex and the AUV’s mathematical model is strongly nonlinear and highly coupled with uncertainties, we propose the robust adaptive law to ensure the superior robust performance of AUV system. The obtained results suggest that the proposed controller can reduce chattering and tracking error by designing a nonsingular sliding mode surface.