High order sliding mode control applied to a heavyweight torpedo

In this paper, we elaborate a sliding mode control from a simplified linear model of a heavyweight torpedo. Then, we use this control law with the torpedo´s nonlinear model in order to evaluate the robustness of the control law in relation to the parametric uncertainties of the model (the hydrodynamics coefficients...), and to the sea current´s perturbation. The development of the first and second order sliding mode control is described and used in numerical simulation with the torpedo´s nonlinear hydrodynamic model. Numerical simulations results enlighten the performances of such controller. The sliding mode controllers correct the imprecision of the hydrodynamic coefficients, the sea current´s perturbations and the simplified linear representation of the torpedo´s dynamics. The implementation of a first and second order sliding mode control in a heavyweight torpedo of type F17 mod2, conceived by DCN Armes sous-marines, is the main contribution of this work