Adaptive control of AUV trajectory tracking in the presence of disturbance

In the method used in this article, the control objectives are achieved by using the adaptive controller and based on the first-order sliding mode method, assuming that the disturbance and its derivative are bounded with an indeterminate boundary, in a way that is resistant to uncertainty and disturbance caused by ocean waves. be This method is based on the law of two-layer adaptation, which works without the need of knowledge of the boundary values of disturbance and its derivative. The stability of the proposed robust-adaptive control law is proved using Lyapunov theory and the performance of the designed controller is verified using simulation results. The performance of the proposed controller is evaluated in terms of error and control effort by comparing the simulation results of the proposed control and conventional sliding mode control. According to the results of comparison and investigation in different disturbance scenarios, the tracking error in the proposed control is much less than the tracking error of the conventional sliding mode control, and also, the range of control effort in the conventional sliding mode control is greater and is associated with chattering, if it is in the case of the robust control. - Charting’s proposed adaptation is not observed.