A robust control algorithm for AUV: based on a High Order Sliding Mode

This paper proposes to introduce new control law algorithm based on high order sliding modes (HOSM) for dive control of the autonomous underwater vehicle (AUV) Taipan. A comparison with classical sliding mode (SM) is carried out as well. These control techniques are based on second order sliding modes. High order methods allow overcoming the chattering effect by removing the discontinuity of the control vector. We show that these high order controllers hold the properties of classical SM control laws and remove chattering problem. Another part of this paper is dedicated to compare SM vs. HOSM in Matlab simulations. These results underline the robustness of the HOSM at last.