On the Disturbance Rejection Performance of SMCMethods

Autonomous underwater vehicle (AUV) pathfollowing is a complex task due to the inherent nonlinearity, seadisturbances and model uncertainty. In this paper, severalrobust control algorithms are tested and their performance ineliminating perturbations and its relevant control action cost areevaluated. It is shown that in overall a simple adaptive slidingmode control (ASMC) used has even better performanceconsidering a second order SMC and a super twisting one. Thelevel of disturbance attenuation is better while the control powercost is almost compatible. In case of containing parameteruncertainty, their performances are the same