Horizontal Trajectory Tracking Control for an Underactuated AUV Adopted Global Integral Sliding Mode Control

The problem of horizontal trajectory tracking for an underactuated autonomous underwater vehicle (AUV) in the presence of parameter perturbation is addressed in this paper. The proposed trajectory tracking controller consists of two sub-controllers: kinematic controller and dynamic controller. The kinematic controller is designed based on the backstepping method, and the virtual control inputs of the velocity are obtained. The global integral sliding mode control (GISMC) is adopted to design the dynamic controller to stabilize the velocity errors, and thus the position errors are also stabilized. The Lyapunov stability theorem is used to ensure the stability of the whole closed-loop control system. At last, a series of numerical simulation results verify the effectiveness and robustness of the proposed controller.