Adaptive Terminal Sliding Mode NDO-Based Control of Underactuated AUV in Vertical Plane

<div>Internal disturbance <svg height="11.8174pt" id="M215" style="vertical-align:-3.1815pt" version="1.1" viewbox="-0.0498162 -8.6359 14.9762 11.8174" width="14.9762pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M743 375C743 570 607 650 407 650H136L130 622C214 612 220 606 204 526L125 122C110 43 105 36 24 27L17 0H250C382 0 482 23 571 76C680 141 743 248 743 375ZM644 379C644 188 520 36 305 36C277 36 249 38 229 46C205 55 202 71 212 126L293 553C300 588 306 600 317 606C330 613 356 617 390 617C547 617 644 537 644 379Z" id="g113-69"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="766" vert-adv-y="766"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,9.893,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z" id="g50-50"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g></svg> and its estimation <svg height="15.1057pt" id="M216" style="vertical-align:-3.181499pt" version="1.1" viewbox="-0.0498162 -11.9242 15.0414 15.1057" width="15.0414pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,.705,-2.897)"><path d="M658 557C549 593 437 629 340 673H318C222 629 109 593 0 557L9 532C116 551 225 577 329 602C435 576 543 551 649 532L658 557Z" id="g119-105"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="658" vert-adv-y="658"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M743 375C743 570 607 650 407 650H136L130 622C214 612 220 606 204 526L125 122C110 43 105 36 24 27L17 0H250C382 0 482 23 571 76C680 141 743 248 743 375ZM644 379C644 188 520 36 305 36C277 36 249 38 229 46C205 55 202 71 212 126L293 553C300 588 306 600 317 606C330 613 356 617 390 617C547 617 644 537 644 379Z" id="g113-69"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="766" vert-adv-y="766"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,9.995,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z" id="g50-50"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g></svg>.</div>

Discrete Dynamics in Nature and Society

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Figure 6

Figure 6: Adaptive Terminal Sliding Mode NDO-Based Control of Underactuated AUV in Vertical Plane 