Abstract:
To realize the robust control of an underactuated autonomous underwater vehicle (AUV) with uncertain parameter perturbations and random disturbances, we propose a robust optimal sliding mode control approach based on alinear quadratic regulator and sliding mode control. First, we give the AUV model in a vertical plane. Second, on the basis of the quadratic form performance index and the state-dependent Riccati equation (SDRE), we design the optimal controller for the AUV nominal system without uncertainties which makes the quadratic performance index optimal. Then, we consider the uncertainty of the system, and design the robust optimal integral sliding mode control law based on the SDRE nominal controller, which not only minimizes the performance index but is also robust to uncertainties. Finally, the validity and robustness of the presented control approach are demonstrated by a dynamic model of the remote environmental unit AUV.