Station-Keeping Control of a Hovering Over-Actuated Autonomous Underwater Vehicle Under Ocean Current Effects and Model Uncertainties in Horizontal Plane

Nowadays, underwater vehicles (UVs) are applied to various tasks such as carrying objects or maintenance of structures. To carry out well these tasks, UVs should keep the position and orientation in water perform specified tasks. However, systems used operations always under influence disturbance ocean currents model uncertainties. In this paper, robust station-keeping (SK) control algorithm based on a sliding mode (SMC) theory is designed guarantee stability better performance hovering over-actuated autonomous vehicle (HAUV) despite existence uncertainties current horizontal plane (HP). Using Lyapunov theorem, proposed controller demonstrated. Besides, an optimal allocation (AC) also linear Euler angles HAUV presence minimize energy consumption system. Finally, series simulations experiments for system conducted demonstrate superior method.