Trajectory tracking for the CMG-actuated underwater vehicle with dynamic uncertainties

In this paper, trajectory tracking control of the underwater vehicle with control moment gyros (CMGs) is addressed under the presence of model perturbation and time-varying environmental disturbances. Motivated by a global homeomorphism transformation, the adaptive dynamical sliding mode controller is developed for the decoupled dynamical model in the horizontal plane. Based on the analysis of error dynamical equations and backstepping design techniques, the adaptive law is utilized to estimate the uncertain states caused by the systematical model and external disturbances. Simulation results show its feasibility and robust stability of the proposed controller to validate the theoretical derivation.