Grey Sliding Mode Control for Autonomous Underwater Vehicle

The autonomous underwater vehicle has been attracting increasing interests in various areas like ocean resource exploitation. It is well known that the controller design of an underwater vehicle is complex for various reasons. The grey predicting theory is introduced into sliding mode control and a grey sliding mode controller is designed. The grey estimation can forecast and reject disturbances and parameter variations. The simulation results show that the application of grey estimation can improve the accuracy of the system and the application of grey compensation is effective to overcome uncertain disturbances. This system has a fast response and a good disturbance rejection capability.

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