Robust Control of Articulated Intervention-AUVs Using Sliding Mode Control
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This thesis is concerned with the theoretical development of trajectory tracking control for an articulated intervention autonomous underwater vehicle (AUV) in 6DOF while using no or as little model knowledge as possible since an articulated intervention-AUV is subject to hydrodynamic and hydrostatic parameter uncertainties, uncertain thruster characteristics, unknown disturbances, and unmodelled dynamics, meaning that the control approach should be robust. To achieve this goal, robust algorithms based on sliding mode control are proposed. The stability of the proposed control approaches is analysed theoretically, and their performance is tested in simulations and experiments.