Sliding mode trajectory tracking of underactuated UUV on dive plane

For realizing the dive plane trajectory tracking of underactuated UUV with parameters uncertainties, the controller based on the Integral Nonlinear Sliding Mode Control (INSMC) is presented. The guidance of the trajectory tracking is established by the virtual vehicle method, and the tracking errors equations are built. The controller of the kinematics subsystem is designed based on Lyapunov´s direct method and backstepping. The dynamic control law is developed by introducing one first-order sliding surface in terms of surge tracking errors and one second-order sliding surface in terms of heave tracking errors. The results of simulation are provided with strongly robust and preferably control performance.