AUV(autonomous underwater vehicle) is unmanned underwater vessel to investigate sea environment and resources. To be completely autonomous, AUV must have the ability to home and dock to the launcher. By the way, there are many system uncertainties in AUV modeling and disturbances in the deep sea. So, due to these difficulties, robust control is much necessary to control AUV. Therefore, a sliding mode controller is selected and designed to regulate and track any suggested paths to accomplish the homing and docking procedure. Because AUV system has the non-matched uncertainties, an established idea is applied to solve this problem. Next, by the appropriate cost functions and algorithms, the homing and docking paths are generated in a space. By using these paths, we simulate lane changing problem and the docking procedure in the presence of the ocean current and waves.
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