A high order sliding mode-multimodel control of nonlinear systems simulation on a submarine mobile

Position control of processes that involve the submarine immersion can present a real problem for the actuators because of the high level of non linearity of the system and because of the external disturbances. Such problem is often treated by a sliding mode control; however, this approach implies a disadvantage which is the chattering phenomenon. This paper deals with the basic concepts, mathematics, and design aspects of a control that make the chattering effect lower. As solution to this problem we will adopt the multimodel approach to improve the performances given by a first and high order sliding mode control (SMC) with only one sliding surface and, in another hand, with several sliding surfaces. Experimental results show that this control strategy, called sliding mode multimodel approach (SM-MM), can attain excellent control performances with no chattering problem and low control level. Comparisons with classical controls have also been considered in this paper.