Author(s)

J. Gams & Z. Kitowski

Abstract

In the paper some aspects of steering of the underwater vehicle in vertical plane have been developed. The sliding mode properties have been applied for compensation of the vehicle's model parametrical uncertainties and viscous environment influence. It enables to calculate quasi-optimal control signals driving the vehicle along the desired trajectory in case of using not full information about behaviour of the vehicle. The results of computer simulation are inserted. 1 Introduction The steering and manoeuvring performance of underwater vehicles have been treated in various papers, e.g. Fossenfl], Yoerger & Slotine[6]. Modelling of vehicle dynamics with taking into consideration all real world conditions of operation is a very complicated proce

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