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An approach for trajectory tracking control of an underactuated autonomous underwater vehicle considering time delay

Abstract:

This paper studies the design of a Sliding Mode Controller (SMC) based on a Smith Pbkp_redictor for the control of an Unmanned Underwater Vehicle (UUV) considering time delay. The study is performed by simulations using a Remote Environmental Monitoring Unit (REMUS) type submarine torpedo model. Different controllers are designed for trajectory tracking, showing the adverse effects of the time delay. In addition, the performance of the controllers is compared by means of ISE (Integral of Squared Error) index. Finally, different results are shown in the V-REP simulator, which allows the creation of several simulation environments and supports the exchange of information with different programming languages through its external Application Programming Interface (API).