31 Iterative Sliding Mode Control for Path-Following of Underactuated AUV

In order to achieve path following of under-actuated autonomous underwater vehicle (AUV) in unknown disturbance currents, a nonlinear iterative sliding mode control method is presented with common curve parameters and the Serret-Frenet coordinate system described the path tracking error, the equation of under-actuated AUV horizontal tracking error is established to overcome the problem of singular value. Design nonlinear sliding mode controller by iterative method, with no estimation of AUV model uncertainty parameter and current disturbances. Circular reference path can be selected which results prove that the path tracking control method is effective and under-actuated AUV can track the desired horizontal path precisely.