Tracking Control of an Articulated Intervention Autonomous Underwater Vehicle in 6DOF Using Generalized Super-twisting: Theory and Experiments

The articulated intervention autonomous underwater vehicle (AIAUV) is an swimming manipulator with capabilities. Station-keeping and trajectory tracking are essential for the AIAUV to be able move in confined spaces perform tasks. In this article, we propose using a generalized super-twisting algorithm (GSTA), which extension of regular algorithm, position orientation base six degrees freedom (6DOF). We also higher-order sliding mode observer (HOSMO) estimating linear angular velocities when velocity measurements unavailable. Furthermore, show ultimate boundedness errors control law GSTA that combines HOSMO. prove gives global uniform finite-time stability. Finally, demonstrate applicability proposed laws comprehensive simulation experimental results.