Sliding mode control of an AUV in the diving and steering planes

The problem of controlling an autonomous underwater vehicle (AUV) in the diving and steering planes is addressed. For each plane of motion, a controller is designed using sliding mode control theory. Each controller design is based on a nonlinear model of the vehicle that is valid for the respective plane. The paper provides a short review of sliding mode control theory, and describes the models of a prototype vehicle in the diving and steering planes. Numerical simulations illustrate the performance of the controllers developed