Preset Performance Sliding Mode Control for AUVs with Input Quantization

This paper proposes an adaptive prescribed performance trajectory tracking control scheme for a six degree of freedom autonomous underwater vehicle (AUV). Unlike existing studies, the scheme proposed in this paper considers input quantisation and introduces a novel sliding modal surface with pre-specified performance settings to design an adaptive prescribed performance trajectory tracking control scheme. An upper bound on the quantisation error and other disturbance terms is estimated by constructing an adaptive law. Simulation results demonstrate the effectiveness of the proposed method for AUV trajectory tracking control.