A chattering-free sliding-mode control design and simulation of remotely operated vehicles

Sliding-mode control (SMC) is widely used in motion control of underwater vehicles. But the chattering problem in sliding mode control is the one of the most common handicaps for applying to real applications. To deal with the problem, a novel model-based chattering-free sliding-mode control law is proposed in this paper. The proposed sliding mode control method removes the chattering phenomenon by replacing a switching term with an adaptive continuous term. The method is robust of the dynamic parameters uncertainty and disturbance focusing on ROV. The obtained simulation results confirm the effectiveness of the proposed technique.