A sensitivity-based adaptive sliding mode control for perturbed autonomous underwater vehicles

Sensitivity analyses in the turning circle and zigzag maneuvers, as two main standard ones, are proposed here as a preliminary step to motion control design for an Autonomous Underwater Vehicle (AUV). The most effective parameters of the AUV are then adopted to be estimated by some adaptation mechanisms. Adaptive sliding mode control is developed to ensure the robust stability and performance, without a priori knowledge about the bound of perturbations. A simulation study is also presented to demonstrate the effectiveness of the method.