Adaptive Event-Triggered Integral Sliding Mode Depth Control of Unmanned Underwater Vehicles under Unknown Environmental Disturbance

Abstract

This paper proposes a depth control strategy for an unmanned underwater vehicle (UUV) using an adaptive event-triggered integral sliding mode control method under unknown marine environment disturbance. Firstly, the UUV longitudinal plane motion model is established by using the T-S fuzzy modeling method to reduce modeling errors. Secondly, an adaptive event-triggered integral sliding mode control method is designed to improve the control performance under an unknown disturbance upper bound. The method reduces mechanical losses and saves network resources by dynamically adjusting the event triggering threshold. The sufficient conditions for the existence and stability of sliding motion are established by linear matrix inequality. Finally, a simulation example is given to verify the effectiveness of the developed strategy.