The synthesis of multi-channel adaptive variable structure system for the control of AUV

The new method of the synthesis of multi-channel adaptive variable structure system with the sliding mode for the centralized control of the spatial motion of autonomous underwater vehicles is developed in this paper. The conditions of the existences of stable sliding mode on the intersection of hyper-surfaces in the space of the system coordinates with the presence of essential dynamic reciprocal effect between all control channels are obtained and strictly proved. The new law of the adaptive tuning of the position of sliding hyper-surfaces in each control channel is proposed and mathematically substantiated. The application of these control laws allow to provide the high control quality and the maximally possible fast-action at any variations of the object parameters within the given ranges. The efficiency of synthesized control system is confirmed by numerical simulation results.