Sliding Mode Control of Autonomous Under Water Vehicle

Abstract

In the modern era Autonomous underwater vehicles are gaining importance for its major contribution in scientific, commercial and military underwater applications. To perform underwater task autonomous guidance and control system is needed.This report consists the mathematical modeling and trajectory control of the AUVs. The report covers a brief survey on available AUVs, sensors used in it and its application in defense and commercial areas. Kinematic and Dynamic equations are derived for the vehicle in 6 DOF motion. The vehicle can operate in six degree of freedom motion having a highly nonlinear dynamic equation. The open loop simulations for KAMBARA AUV have been carried out using MATLAB/ SIMULINK for the experimental data available. A PID controller for depth, pitch, roll, steering and forward direction is designed for the vehicle using the knowledge of its EOM. SMC is also established for control of the Vehicle for the above mentioned DOF, the results are simulated with MATLAB. The performance of the designed controllers is evaluated by comparing results accomplished with SMC and PID. Ocean currents are one of major cause in the disturbance of the AUV motion, it is therefore, important to add it to the dynamical EOM. The thesis includes the performance comparison of the designed controllers in the presence of ocean currents as well.