Multi-Channel Variable Structure System for the Control of Autonomous Underwater Vehicle

The new method of the synthesis of multi-channel variable structure system with the sliding mode for the centralized control of the spatial motion of autonomous underwater vehicles is developed in this paper. The conditions of the existences of stable sliding mode on the intersection of hyper-surfaces in the space of the system coordinates with the presence of essential dynamic reciprocal effect between all control channels are obtained and strictly proved. The application of a new control law allow to provide the high control quality at any variations of the object parameters within the given ranges. The efficiency of synthesized control system is confirmed by numerical simulation results.