Adaptive Integral Terminal Sliding Mode Guidance and Control for a UUV Under Perturbations

Resumen

This article addresses robust guidance and control for a fully-actuated underwater autonomous vehicle under external perturbations. A cascade strategy based on an adaptive integral terminal sliding mode controller is designed. Such approach ensures practical finitetime convergence of the tracking errors and robustness against disturbances with unknown boundaries. In addition, it does not overestimate the control gain, reducing chattering. The guidance law forces the vehicle to track desired trajectories, providing velocity and heading references for all degrees of freedom. Then, a low-level control ensures convergence of all the state variables. Finally, simulations results carried on a full model subject to water currents prove the feasibility and advantages of the proposed control scheme.