Model-free high order sliding mode control for ROV: Station-keeping approach

摘要

A simple, and yet straightforward approach based on second order sliding mode control for underwater vehicles has been synthesized. The proposed scheme accomplishes station-keeping and position tracking without acceleration measurements, nor robot dynamics and parameters knowledge, under ocean currents in different directions. Exponential fast convergence of position and velocity, without overshooting, is ensured, for a small initial condition.