Horizontal tracking control for AUV based on nonlinear sliding mode

With the purpose of the path tracking control of under-actuated autonomous underwater vehicle (AUV) in the role of the unknown current disturbance, proposed a path tracking controller based on nonlinear iterative sliding mode incremental feedback. With general curve parameters and the Serret-Frenet coordinate system, the path tracking error is described, and the AUV horizontal path error model is establish. Combined with the iterative method, the control system can reduce the overshoot. The simulation results show that the proposed controller can achieve the precise tracking of underactuated AUV in the horizontal path.