Coordinated Depth Control of Multiple Autonomous Underwater Vehicles by Using Theory of Adaptive Sliding Mode

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/complexity/volume-2018/4180275/figures/4180275.fig.007a.svgz" name="4180275.fig.007a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Sliding mode control</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/complexity/volume-2018/4180275/figures/4180275.fig.007b.svgz" name="4180275.fig.007b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Adaptive sliding mode control</td></tr></table>

<div>The sliding mode surface of each controller.</div>

Complexity

fig7

Figure 7

Figure 7: Coordinated Depth Control of Multiple Autonomous Underwater Vehicles by Using Theory of Adaptive Sliding Mode 