Adaptive Disturbance-Observer-Based Continuous Sliding Mode Control for Small Autonomous Underwater Vehicles in the Trans-Atlantic Geotraverse Hydrothermal Field with Trajectory Modeling Based on the Path

Abstract

Considering intense hydrothermal activities and rugged topography in a near-bottom environment of the trans-Atlantic geotraverse (TAG) hydrothermal mound, a small autonomous underwater vehicle (S-AUV) will suffer from time-varying disturbances, model uncertainties, actuator faults, and input saturations. To handle these issues, a fault-tolerant adaptive robust sliding mode control method is presented in this paper. Firstly, unknown disturbances, model uncertainties, and actuator faults of the S-AUV are synthesized into a lumped uncertain vector. Without requiring the upper bound and gradient of the uncertainties, a continuous adaptive finite-time extended state observer is designed to estimate the lumped uncertain vector. Then, an auxiliary dynamic system composed of continuous functions is introduced to deal with input saturations, thereby contributing to achieving fixed-time trajectory tracking control of S-AUVs. Based on a designed continuous fixed-time nonsingular fast sliding mode surface, the proposed continuous adaptive controller is chattering free. Simulated topography is built according to topographic data of the TAG mound, and a smooth trajectory model is constructed by cubic spline interpolation. Comprehensive simulations performed on an actual S-AUV model are given to validate the effectiveness and superiority of the presented algorithm.