Design of sliding mode control for surge, heave and pitch motion control of UNUSAITS AUV

Abstract

AUV has 6 degrees of freedom derived from a propulsion system that regulates the angular speed of AUV and the fin system that adjusts the angle of the fin and rudder positions. In this paper, an AUV motion control system design for diving was developed, that is, the control system of surge, heave and pitch motions by applying Sliding Mode Control (SMC) method. The AUV specification used in this study was an UNUSAITS AUV with a length of 1.5 meters, a weight of 16 kilograms using controller of arduino mega 2.0. The main contribution of this paper is Control system for nonlinear models of 3-DOF UNUSAITS AUV. The results of simulation showed that the SMC method could be effectively applied as a 3-DOF motion control system with an error of 5% for surge motion and 0.01% for heave motion and 2% for pitch motion.