Robust Controller Design for Autonomous Underwater Glider Using Backstepping Super Twisting Sliding Mode Control Algorithm

Abstract

This paper proposes the design methodology of the backstepping super twisting sliding mode control algorithm. The proposed controller algorithm is designed to improve the tracking performance of the original super twisting sliding mode. The controller is designed for trajectory tracking problem in existence of external disturbance and parameter variations. The controller is designed for the gliding path from 25° downward to 25° upward. The performance of the proposed controller is compared to original super-twisting algorithm. The simulation results have shown that the proposed controller has improved the performance and the undesired chattering in control input and sliding surface has been reduced.