Study on the Depth Control for an "Egg-shaped" Underwater Robot Based on Backstepping Sliding Mode Algorithm

With the growing demand for autonomous underwater vehicles (AUVs) capable of precise navigation in intricate environments, achieving accurate depth control becomes pivotal. This paper introduced a pioneering study on depth control for an "Egg-shaped" underwater robot (EUR) utilizing the backstepping sliding mode control (BSMC) algorithm. By analyzing the kinematic and kinetic models of the EUR, a specialized control system was devised. This paper significantly advanced underwater robotics by presenting a robust and efficient solution for depth control, employing Lyapunov function in stability analysis. Simulation and experimental results validated the performance of the proposed algorithm in regulating the robot's depth across diverse operating conditions, surpassing traditional control methods in terms of stability and accuracy.