Climbing control for a flapping foil UUV based on sliding mode variable structure control theory

Abstract

In order to obtain accurate and efficient control way of underwater climbing motion, linear model with small disturb in longitudinal plane has been established by analyzing the kinematic and dynamic of the UUV. Sliding mode variable structure control method is selected to design the climbing motion controller, and the simulations of climbing in longitudinal plane respectively by the flapping foil angel and by palmiped angle have been done. Simulation results show that the climbing motion can achieve the desired purpose.