The Observer-based Adaptive Dynamic Sliding-mode Controller For The Attitude Control Of High Speed Small AUV

Small scale autonomous underwater vehicle (Small Scale AUV), since theadvantages of the simple structure, low cost, high speed, good for hiding and quicklaying, etc., has attracted a lot attention, and being used in many aspects, such asenvironmental monitoring, underwater exploration, underwater mapping, large vesselshell routine maintenance, port security, surveillance, humanitarian rescue andscientific research. Like other types AUV, there are six degrees of freedom ofmovement. And the kinetic equations are strong coupling and nonlinear, resulting inthat the control problem of Small Scale AUV becomes very complicated. Therefore, itis very important to design a simple and adaptive ability of the robust controller.This article takes AUV posture control as the object of study, focused on AUVattitude control problems. Based on the AUV’s characteristics, an observer-basedadaptive dynamic terminal sliding mode controller is proposed. The controller coulduse limited accessible data to automatically adjust the controller parameters to ensurethat the attitude angle of underwater robots converge to the desired trajectories infinite time. The feasibility of the control method is verified through numericalsimulation.Firstly, based on fluid dynamics theory and existing literature, the model canreflect the dynamic characteristics of the dynamic of AUV, and by comparison of theresults of numerical simulation and experiment, the validity and accuracy of thedynamic model are verified. Then, based on the observer theory, the adaptive controltheory and the dynamic terminal sliding mode theory, an observer-based adaptivedynamic terminal sliding mode controller is designed, which is more simple thanbefore, and has adaptive capacity, strong robustness. Finally, the efficiency of theproposed controller is verified by the numerical simulation, which is based on theestablished dynamic model.