Publication

Abstract : The trajectory tracking control problem of pitch channel dynamics of an autonomous underwater vehicle (AUV) is considered. A linear extended state observer (ESO)-based sliding mode control (SMC) law is proposed under the influence of lumped disturbances. A linear ESO is designed to estimate the lumped disturbances of pitch channel dynamics in real time. A trajectory tracking control law is designed using SMC based on the estimated states. Combining linear ESO with SMC enhances the antidisturbance capability and minimizes the chattering effect of SMC. An experimentally verified pitch channel motion parameters of ODRA-I AUV is used. For robust analysis, the proposed linear ESO-based SMC law is validated under the influence of lumped disturbances. The Lyapunov theory is applied for stability analysis. The efficacy of the proposed control law is proven by comparing it with the benchmark proportional-derivative (PD) control law. The simulation results are demonstrated to support the proposed design.