Reduce control signal variations, router's underwater remotely Operated Vehicles using Model-Free High Order- sliding mode control

Control of the router's underwater remotely Operated Vehicles (ROVs) is challenging due to its highly nonlinear nature, strong coupling among variables, and unknown environment of the underwater in terms of underwater currents.The classic sliding mode controller is a popular control method in nonlinear dynamic tracking systems. The most obvious feature of the sliding mode controller is its high robustness. However, one of the problems with this control method is chattering in its control signal. this causes the use of high-frequency actuators. Eventually, it can reduce life duration and damage.Therefore, in this study, to reduce the chattering and High frequency fluctuations of the control signal applied to the trusters, a Model-Free High Order- sliding mode control is proposed. Finally, the performance of the proposed controller has simulated on a router underwater remotely Operated Vehicle. And the performance of the proposed system is compared with a standard mode sliding controller.